VelocityFilterEstimator

rb::VelocityFilterEstimator estimates scalar velocity from sampled position data. It is a lightweight utility class used in local filtering and example code.

Header

Header

#include <rby1-sdk/math/velocity_estimator.h>

Declaration

Namespace	rb
Kind	class
Primary role	Estimate velocity with a short moving-window filter.

Public Member Functions

Method	Purpose	Notes
VelocityFilterEstimator(...)	Construct the estimator with a sample period and averaging window.	avg_count controls the smoothing window length.
Update(...)	Feed a new position sample into the estimator.	The valid flag lets callers skip invalid samples.
GetVelocity()	Read the estimated velocity.	Use after one or more Update(...) calls.

Detailed Reference

class VelocityFilterEstimator

Public Functions

inline explicit VelocityFilterEstimator(double dt, int avg_count = 5)

inline double GetVelocity()

inline void Update(double position, bool valid)

Related Types

• TrapezoidalMotionGenerator

Examples

• velocity_estimation.cpp is the direct example for this page.