00001 /* 00002 * Copyright 2016 The Cartographer Authors 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 * 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 */ 00016 00017 #ifndef CARTOGRAPHER_IO_MIN_MAX_RANGE_FILTERING_POINTS_PROCESSOR_H_ 00018 #define CARTOGRAPHER_IO_MIN_MAX_RANGE_FILTERING_POINTS_PROCESSOR_H_ 00019 00020 #include <memory> 00021 00022 #include "cartographer/common/lua_parameter_dictionary.h" 00023 #include "cartographer/io/points_processor.h" 00024 00025 namespace cartographer { 00026 namespace io { 00027 00028 // Filters all points that are farther away from their 'origin' as 'max_range' 00029 // or closer than 'min_range'. 00030 class MinMaxRangeFiteringPointsProcessor : public PointsProcessor { 00031 public: 00032 constexpr static const char* kConfigurationFileActionName = 00033 "min_max_range_filter"; 00034 MinMaxRangeFiteringPointsProcessor(double min_range, double max_range, 00035 PointsProcessor* next); 00036 static std::unique_ptr<MinMaxRangeFiteringPointsProcessor> FromDictionary( 00037 common::LuaParameterDictionary* dictionary, PointsProcessor* next); 00038 00039 ~MinMaxRangeFiteringPointsProcessor() override {} 00040 00041 MinMaxRangeFiteringPointsProcessor( 00042 const MinMaxRangeFiteringPointsProcessor&) = delete; 00043 MinMaxRangeFiteringPointsProcessor& operator=( 00044 const MinMaxRangeFiteringPointsProcessor&) = delete; 00045 00046 void Process(std::unique_ptr<PointsBatch> batch) override; 00047 FlushResult Flush() override; 00048 00049 private: 00050 const double min_range_; 00051 const double max_range_; 00052 PointsProcessor* const next_; 00053 }; 00054 00055 } // namespace io 00056 } // namespace cartographer 00057 00058 #endif // CARTOGRAPHER_IO_MIN_MAX_RANGE_FILTERING_POINTS_PROCESSOR_H_