Digital filter classes

[ethanmusser]

Feature request for an abstract Filter class with general method definitions and a child, LowPassFilter class implementation.

Current Behavior

The user implements filtering on an as-needed basis in their code. For joint measurement, this generally occurs in their RobotBase child classes or in Behavior-derived behavior classes.

Desired Behavior

Users can utilize a filter from a set of pre-defined Filter child classes (e.g., LowPassFilter, HighPassFilter, NotchFilter) or implement their digital filters by creating their own Filter children.

Motivation

• Provide a set of basic filters for general use
• Provide the capacity to utilize polymorphic filtering interfaces

Minimal Proposed Implementation

• Filter: An abstract class containing generic functions applicable to filtering, including:
  • Update - Update filter with the latest data
  • An accessor for the internal data
• LowPassFilter: A child class to Filter that implements a discrete-time low-pass filter.