iir_filter.h

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#ifndef IIR_FILTER_H
#define IIR_FILTER_H
 
#include <ros/ros.h>
 
namespace mrs_lib
{
 
class IirFilter {
 
public:
  IirFilter(const std::vector<double>& a, const std::vector<double>& b);
  IirFilter();
 
  double iterate(const double input);
 
  std::tuple<std::vector<double>,std::vector<double>> getCoeffs();
  std::vector<double> getBuffer();
 
private:
  std::vector<double> a_;
  std::vector<double> b_;
  size_t              order_;
  std::vector<double> buffer_;
};
 
}  // namespace mrs_lib
 
#endif