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AlphaFilter: replace isfinite with positive denominator check

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This commit is contained in:
Matthias Grob 2020-06-11 09:54:56 +02:00 committed by Daniel Agar
parent e835bc34c4
commit daec5ae608
1 changed files with 6 additions and 8 deletions
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14
EKF/AlphaFilter.hpp
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@ -42,8 +42,6 @@
#pragma once
#include "../ecl.h"
template <typename T>
class AlphaFilter {
public:
@ -59,7 +57,11 @@ public:
* @param time_constant filter time constant determining convergence
*/
void setParameters(float sample_interval, float time_constant) {
setAlpha(sample_interval / (time_constant + sample_interval));
const float denominator = time_constant + sample_interval;
if (denominator > FLT_EPSILON) {
setAlpha(sample_interval / denominator);
}
}
/**
@ -67,11 +69,7 @@ public:
*
* @param alpha [0,1] filter weight for the previous state. High value - long time constant.
*/
void setAlpha(float alpha) {
if (ISFINITE(alpha)) {
_alpha = alpha;
}
}
void setAlpha(float alpha) { _alpha = alpha; }
/**
* Set filter state to an initial value