laser_filters::LaserMedianFilter Class Reference

A class to provide median filtering of laser scans in time. More...

#include <median_filter.h>

List of all members.

Public Member Functions
bool	configure ()
	LaserMedianFilter ()
	Constructor.
bool	update (const sensor_msgs::LaserScan &scan_in, sensor_msgs::LaserScan &scan_out)
	Update the filter and get the response.
	~LaserMedianFilter ()
Private Attributes
boost::mutex	data_lock
	How many data point are in each row.
unsigned int	filter_length_
filters::MultiChannelFilterChain < float > *	intensity_filter_
unsigned int	num_ranges_
	How many scans to average over.
filters::MultiChannelFilterChain < float > *	range_filter_
sensor_msgs::LaserScan	temp_scan_
	Protection from multi threaded programs.
XmlRpc::XmlRpcValue	xmlrpc_value_

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Detailed Description

A class to provide median filtering of laser scans in time.

Definition at line 49 of file median_filter.h.

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Constructor & Destructor Documentation

laser_filters::LaserMedianFilter::LaserMedianFilter

(

)

Constructor.

Parameters:

averaging_length

How many scans to average over.

Definition at line 35 of file median_filter.cpp.

laser_filters::LaserMedianFilter::~LaserMedianFilter

(

)

Definition at line 60 of file median_filter.cpp.

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Member Function Documentation

bool laser_filters::LaserMedianFilter::configure

(

)

Definition at line 41 of file median_filter.cpp.

bool laser_filters::LaserMedianFilter::update	(	const sensor_msgs::LaserScan &	scan_in,
		sensor_msgs::LaserScan &	scan_out
	)

Update the filter and get the response.

Parameters:

	scan_in	The new scan to filter
	scan_out	The filtered scan

Quickly pass through all data

Todo:

don't copy data too

Todo:

check for length of intensities too

Definition at line 66 of file median_filter.cpp.

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Member Data Documentation

boost::mutex laser_filters::LaserMedianFilter::data_lock [private]

How many data point are in each row.

Definition at line 71 of file median_filter.h.

unsigned int laser_filters::LaserMedianFilter::filter_length_ [private]

Definition at line 68 of file median_filter.h.

filters::MultiChannelFilterChain<float>* laser_filters::LaserMedianFilter::intensity_filter_ [private]

Definition at line 77 of file median_filter.h.

unsigned int laser_filters::LaserMedianFilter::num_ranges_ [private]

How many scans to average over.

Definition at line 69 of file median_filter.h.

filters::MultiChannelFilterChain<float>* laser_filters::LaserMedianFilter::range_filter_ [private]

Definition at line 76 of file median_filter.h.

sensor_msgs::LaserScan laser_filters::LaserMedianFilter::temp_scan_ [private]

Protection from multi threaded programs.

Definition at line 72 of file median_filter.h.

XmlRpc::XmlRpcValue laser_filters::LaserMedianFilter::xmlrpc_value_ [private]

Todo:

cache only shallow info not full scan

Definition at line 74 of file median_filter.h.

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The documentation for this class was generated from the following files:

• median_filter.h
• median_filter.cpp