[wpimath] Add lastValue() method to filters (#6351)

wpilibsuite · Feb 10, 2024 · 3207795 · 3207795
1 parent e506e09
commit 3207795
Show file tree

Hide file tree

Showing 6 changed files with 48 additions and 0 deletions.
diff --git a/wpimath/src/main/java/edu/wpi/first/math/filter/LinearFilter.java b/wpimath/src/main/java/edu/wpi/first/math/filter/LinearFilter.java
@@ -313,6 +313,15 @@ public double calculate(double input) {
     return retVal;
   }
 
+  /**
+   * Returns the last value calculated by the LinearFilter.
+   *
+   * @return The last value.
+   */
+  public double lastValue() {
+    return m_outputs.getFirst();
+  }
+
   /**
    * Factorial of n.
    *

diff --git a/wpimath/src/main/java/edu/wpi/first/math/filter/MedianFilter.java b/wpimath/src/main/java/edu/wpi/first/math/filter/MedianFilter.java
@@ -72,6 +72,15 @@ public double calculate(double next) {
     }
   }
 
+  /**
+   * Returns the last value calculated by the MedianFilter.
+   *
+   * @return The last value.
+   */
+  public double lastValue() {
+    return m_valueBuffer.getFirst();
+  }
+
   /** Resets the filter, clearing the window of all elements. */
   public void reset() {
     m_orderedValues.clear();

diff --git a/wpimath/src/main/java/edu/wpi/first/math/filter/SlewRateLimiter.java b/wpimath/src/main/java/edu/wpi/first/math/filter/SlewRateLimiter.java
@@ -64,6 +64,15 @@ public double calculate(double input) {
     return m_prevVal;
   }
 
+  /**
+   * Returns the value last calculated by the SlewRateLimiter.
+   *
+   * @return The last value.
+   */
+  public double lastValue() {
+    return m_prevVal;
+  }
+
   /**
    * Resets the slew rate limiter to the specified value; ignores the rate limit when doing so.
    *

diff --git a/wpimath/src/main/native/include/frc/filter/LinearFilter.h b/wpimath/src/main/native/include/frc/filter/LinearFilter.h
@@ -371,6 +371,13 @@ class LinearFilter {
     return retVal;
   }
 
+  /**
+   * Returns the last value calculated by the LinearFilter.
+   *
+   * @return The last value.
+   */
+  T LastValue() const { return m_outputs.front(); }
+
  private:
   wpi::circular_buffer<T> m_inputs;
   wpi::circular_buffer<T> m_outputs;

diff --git a/wpimath/src/main/native/include/frc/filter/MedianFilter.h b/wpimath/src/main/native/include/frc/filter/MedianFilter.h
@@ -61,6 +61,13 @@ class MedianFilter {
     }
   }
 
+  /**
+   * Returns the last value calculated by the MedianFilter.
+   *
+   * @return The last value.
+   */
+  T LastValue() const { return m_valueBuffer.front(); }
+
   /**
    * Resets the filter, clearing the window of all elements.
    */

diff --git a/wpimath/src/main/native/include/frc/filter/SlewRateLimiter.h b/wpimath/src/main/native/include/frc/filter/SlewRateLimiter.h
@@ -75,6 +75,13 @@ class SlewRateLimiter {
     return m_prevVal;
   }
 
+  /**
+   * Returns the value last calculated by the SlewRateLimiter.
+   *
+   * @return The last value.
+   */
+  Unit_t LastValue() const { return m_prevVal; }
+
   /**
    * Resets the slew rate limiter to the specified value; ignores the rate limit
    * when doing so.