Template Class MultiChannelFilterBase

Defined in File filter_base.hpp

Inheritance Relationships

Base Type

public filters::FilterBase< T > (Template Class FilterBase)

Derived Types

public filters::MultiChannelIncrementFilter< T > (Template Class MultiChannelIncrementFilter)
public filters::MultiChannelMeanFilter< T > (Template Class MultiChannelMeanFilter)
public filters::MultiChannelMedianFilter< T > (Template Class MultiChannelMedianFilter)
public filters::MultiChannelTransferFunctionFilter< T > (Template Class MultiChannelTransferFunctionFilter)

Class Documentation

template<typename T> class MultiChannelFilterBase : public filters::FilterBase<T>

Subclassed by filters::MultiChannelIncrementFilter< T >, filters::MultiChannelMeanFilter< T >, filters::MultiChannelMedianFilter< T >, filters::MultiChannelTransferFunctionFilter< T >

Public Functions

inline MultiChannelFilterBase()

virtual ~MultiChannelFilterBase() = default: Virtual Destructor.

inline virtual bool configure(): Pure virtual function for the sub class to configure the filter This function must be implemented in the derived class.

inline bool configure(size_t number_of_channels, const std::string &param_prefix, const std::string &filter_name, const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr &node_logger, const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr &node_params)

Configure the filter from the parameter server.

Parameters:

number_of_channels – How many parallel channels the filter will process
The – parameter from which to read the configuration
node_handle – The optional node handle, useful if operating in a different namespace.

virtual bool update(const std::vector<T> &data_in, std::vector<T> &data_out) = 0

Update the filter and return the data seperately.

Parameters:

data_in – A reference to the data to be input to the filter
data_out – A reference to the data output location This funciton must be implemented in the derived class.

inline virtual bool update(const T&, T&)

Update the filter and return the data seperately This is an inefficient way to do this and can be overridden in the derived class.

Parameters:

data_in – A reference to the data to be input to the filter
data_out – A reference to the data output location

Protected Attributes

size_t number_of_channels_: How many parallel inputs for which the filter is to be configured.