SlidingWindowMathExpressionFilter.hpp

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/*
 * SlidingWindowMathExpressionFilter.hpp
 *
 *  Created on: Aug 18, 2017
 *      Author: Peter Fankhauser
 *   Institute: ETH Zurich, Robotic Systems Lab
 */

#pragma once

#include "EigenLab/EigenLab.h"

#include <grid_map_core/grid_map_core.hpp>

#include <filters/filter_base.h>

#include <Eigen/Core>
#include <string>

namespace grid_map {

template<typename T>
class SlidingWindowMathExpressionFilter : public filters::FilterBase<T>
{

 public:
  SlidingWindowMathExpressionFilter();

  virtual ~SlidingWindowMathExpressionFilter();

  virtual bool configure();

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

 private:
  std::string inputLayer_;

  std::string outputLayer_;

  EigenLab::Parser<Eigen::MatrixXf> parser_;

  std::string expression_;

  int windowSize_;

  bool useWindowLength_;

  double windowLength_;

  bool isComputeEmptyCells_;

  SlidingWindowIterator::EdgeHandling edgeHandling_;
};

} /* namespace */