text: /**  \file
   *   \author Daniel Hert - hertdani@fel.cvut.cz
   */
  #ifndef NOTCH_FILTER_H
  #define NOTCH_FILTER_H
  
  #include <Eigen/Dense>
  #include <ros/ros.h>
  
  #include <mrs_lib/iir_filter.h>
  
  namespace mrs_lib
  {
  
  class NotchFilter {
  
  public:
    /* NotchFilter(const double& sample_rate, const std::vector<double>& frequencies_in, const std::vector<double>& bandwidths_in); */
    NotchFilter(const double& sample_rate, const double& frequency_in, const double& bandwidth_in);
  
    double iterate(double& sample_in);
  
  private:
    std::unique_ptr<mrs_lib::IirFilter> filter;
  };
  
  }  // namespace mrs_lib
  
  #endif
  