Filter¶

The filter types supported by the motion API are:

The filter type is fixed in the implementation and cannot be changed runtime.

The filter type structure¶

Note

The GenericFilter integrates multiple filter types which can be selected runtime using a signal.

Discretization¶

Filters provide the ability to configure discrete-time filters, using continuous-time parameters.

The supported discretization method differs by filter and cannot be changed.

Each time a continuous-time parameter is changed, the filter is discretized asynchronously outside of the real-time context to minimize the impact on the real-time performance. This approach uses the user-friendly continuous-time configuration but maintains the performance of the implementation with discretized parameters.

Configuration¶

Filters can be updated by writing new values to the relevant signals. For filters with more than one continuous time parameter the preferred way of working is to use a parameter set. This way all relevant signals are updated simultaneously and the discretization is only triggered once. Additionally, they can be applied at a defined moment via the command queue.

When adding filter parameters to a parameter set, the PMP controller:

discretizes all continuous-time parameters in the filter;
replaces the continuous-time parameters in the parameter set with discrete-time parameters.

When applying the parameter set, the discretized parameters are applied.

Note

It is important to add all filter parameters (excluding discretized parameters) to the parameter set.