Commit 91bcc324 authored by Olivier Stasse's avatar Olivier Stasse
Browse files

[causual-filter] Propagates changes to src file.

parent 3b788f60
......@@ -83,7 +83,7 @@ void CausalFilter::get_x_dx_ddx(const Eigen::VectorXd& base_x,
x_output_dx_ddx.head(m_x_size) = (input_buffer*b-output_buffer*a)/m_filter_denominator[0];
//Finite Difference
Eigen::Index pt_denominator_prev = (pt_denominator == 0) ? m_filter_order_n-2 : pt_denominator-1;
Eigen::VectorXd::Index pt_denominator_prev = (pt_denominator == 0) ? m_filter_order_n-2 : pt_denominator-1;
x_output_dx_ddx.segment(m_x_size,m_x_size) = (x_output_dx_ddx.head(m_x_size)-output_buffer.col(pt_denominator))/m_dt;
x_output_dx_ddx.tail(m_x_size) = (x_output_dx_ddx.head(m_x_size)-2*output_buffer.col(pt_denominator)+output_buffer.col(pt_denominator_prev))/m_dt/m_dt;
......@@ -98,8 +98,8 @@ void CausalFilter::get_x_dx_ddx(const Eigen::VectorXd& base_x,
void CausalFilter::switch_filter(const Eigen::VectorXd& filter_numerator,
const Eigen::VectorXd& filter_denominator)
{
Eigen::Index filter_order_m = filter_numerator.size();
Eigen::Index filter_order_n = filter_denominator.size();
Eigen::VectorXd::Index filter_order_m = filter_numerator.size();
Eigen::VectorXd::Index filter_order_n = filter_denominator.size();
Eigen::VectorXd current_x(input_buffer.col(pt_numerator));
......
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