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00001 /* 00002 * Copyright (c) 2009, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #ifndef FILTERS_MEAN_H 00031 #define FILTERS_MEAN_H 00032 00033 #include <stdint.h> 00034 #include <cstring> 00035 #include <stdio.h> 00036 00037 #include <boost/scoped_ptr.hpp> 00038 00039 #include "filters/filter_base.h" 00040 00041 namespace filters 00042 { 00043 00047 template <typename T> 00048 class IncrementFilter: public FilterBase <T> 00049 { 00050 public: 00052 IncrementFilter(); 00053 00056 ~IncrementFilter(); 00057 00058 virtual bool configure(); 00059 00064 virtual bool update( const T & data_in, T& data_out); 00065 00066 }; 00067 00068 00069 template <typename T> 00070 IncrementFilter<T>::IncrementFilter() 00071 { 00072 } 00073 00074 template <typename T> 00075 bool IncrementFilter<T>::configure() 00076 { 00077 00078 return true; 00079 } 00080 00081 template <typename T> 00082 IncrementFilter<T>::~IncrementFilter() 00083 { 00084 } 00085 00086 00087 template <typename T> 00088 bool IncrementFilter<T>::update(const T & data_in, T& data_out) 00089 { 00090 data_out = data_in + 1; 00091 00092 return true; 00093 }; 00094 00098 template <typename T> 00099 class MultiChannelIncrementFilter: public MultiChannelFilterBase <T> 00100 { 00101 public: 00103 MultiChannelIncrementFilter(); 00104 00107 ~MultiChannelIncrementFilter(); 00108 00109 virtual bool configure(); 00110 00115 virtual bool update( const std::vector<T> & data_in, std::vector<T>& data_out); 00116 00117 protected: 00118 using MultiChannelFilterBase<T>::number_of_channels_; 00119 00120 00121 00122 }; 00123 00124 00125 template <typename T> 00126 MultiChannelIncrementFilter<T>::MultiChannelIncrementFilter() 00127 { 00128 } 00129 00130 template <typename T> 00131 bool MultiChannelIncrementFilter<T>::configure() 00132 { 00133 00134 return true; 00135 } 00136 00137 template <typename T> 00138 MultiChannelIncrementFilter<T>::~MultiChannelIncrementFilter() 00139 { 00140 } 00141 00142 00143 template <typename T> 00144 bool MultiChannelIncrementFilter<T>::update(const std::vector<T> & data_in, std::vector<T>& data_out) 00145 { 00146 // ROS_ASSERT(data_in.size() == width_); 00147 //ROS_ASSERT(data_out.size() == width_); 00148 if (data_in.size() != number_of_channels_ || data_out.size() != number_of_channels_) 00149 { 00150 ROS_ERROR("Configured with wrong size config:%d in:%d out:%d", number_of_channels_, (int)data_in.size(), (int)data_out.size()); 00151 return false; 00152 } 00153 00154 00155 //Return each value 00156 for (uint32_t i = 0; i < number_of_channels_; i++) 00157 { 00158 data_out[i] = data_in[i] + 1; 00159 } 00160 00161 return true; 00162 }; 00163 00164 } 00165 #endif// FILTERS_INCREMENT_H