abs_bounded_derivative_filter()

T upkie.utils.filters.abs_bounded_derivative_filter	(	T	prev_output,
		T	new_input,
		float	dt,
		T	max_derivative
	)

Filter signal so that the absolute values of its output and output derivative stay within bounds.

Parameters

prev_output	Previous filter output, or initial value.
new_input	New filter input.
dt	Sampling period in seconds.
max_derivative	Maximum absolute value of the output derivative.

Returns

New filter output.