dragonpilot - 基於 openpilot 的開源駕駛輔助系統
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class FirstOrderFilter():
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# first order filter
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def __init__(self, x0, ts, dt):
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self.k = (dt / ts) / (1. + dt / ts)
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self.x = x0
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def update(self, x):
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self.x = (1. - self.k) * self.x + self.k * x
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return self.x
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