Program Listing for File ThresholdFilter.hpp

↰ Return to documentation for file (/tmp/ws/src/grid_map/grid_map_filters/include/grid_map_filters/ThresholdFilter.hpp)

/*
 * ThresholdFilter.hpp
 *
 *  Created on: Mar 16, 2015
 *      Author: Martin Wermelinger, Peter Fankhauser
 *   Institute: ETH Zurich, ANYbotics
 */

#ifndef GRID_MAP_FILTERS__THRESHOLDFILTER_HPP_
#define GRID_MAP_FILTERS__THRESHOLDFILTER_HPP_

#include <filters/filter_base.hpp>

#include <string>
#include <vector>

namespace grid_map
{

template<typename T>
class ThresholdFilter : public filters::FilterBase<T>
{
public:
  ThresholdFilter();

  virtual ~ThresholdFilter();

  bool configure() override;

  bool update(const T & mapIn, T & mapOut) override;

private:
  std::string layer_;

  double lowerThreshold_;

  double upperThreshold_;

  double setTo_;

  bool useLowerThreshold_, useUpperThreshold_;
};

}  // namespace grid_map
#endif  // GRID_MAP_FILTERS__THRESHOLDFILTER_HPP_