notch_filter.h

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#ifndef NOTCH_FILTER_H
#define NOTCH_FILTER_H
 
#include <Eigen/Dense>
#include <ros/ros.h>
 
#include <mrs_lib/iir_filter.h>
 
namespace mrs_lib
{
 
class NotchFilter {
 
public:
  /* NotchFilter(const double& sample_rate, const std::vector<double>& frequencies_in, const std::vector<double>& bandwidths_in); */
  NotchFilter(const double& sample_rate, const double& frequency_in, const double& bandwidth_in);
 
  double iterate(double& sample_in);
 
private:
  std::unique_ptr<mrs_lib::IirFilter> filter;
};
 
}  // namespace mrs_lib
 
#endif