filters
Submodules
Classes
First-order low-pass filter for SE3 poses. |
Package Contents
- class filters.SE3LowPassFilter(tau=0.1)
First-order low-pass filter for SE3 poses.
- Parameters:
tau (float)
- reset(pose)
Resets the filter state to a specific pose.
- Parameters:
pose (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(4, 4), order='F')])
- Return type:
None
- update(target_pose, dt)
Updates the filtered state toward a target pose.
- Parameters:
target_pose (Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(4, 4), order='F')])
dt (float)
- Return type:
Annotated[numpy.typing.NDArray[numpy.float64], dict(shape=(4, 4), order=’F’)]
- tau()
Returns the filter time constant in seconds.
- Return type:
float
- setTau(tau)
Sets the filter time constant.
- Parameters:
tau (float)
- Return type:
None
- isInitialized()
Checks whether the filter has an active filtered state.
- Return type:
bool