filters.hpp

// Copyright (c) 2008, Willow Garage, Inc.
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#ifndef CONTROL_TOOLBOX__FILTERS_HPP_
#define CONTROL_TOOLBOX__FILTERS_HPP_
 
#include <algorithm>
 
namespace filters
{
template <typename T>
static inline T exponentialSmoothing(
  const T & current_raw_value, const T & last_smoothed_value, double alpha)
{
  return alpha * current_raw_value + (1 - alpha) * last_smoothed_value;
}
}  // namespace filters
 
#endif  // CONTROL_TOOLBOX__FILTERS_HPP_