ThresholdFilter.hpp

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

#pragma once

#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();

  virtual bool configure();

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

 private:

  std::string conditionLayer_;

  std::string outputLayer_;

  double lowerThreshold_;

  double upperThreshold_;

  bool useLowerThreshold_, useUpperThreshold_;

  double setTo_;
};

} /* namespace */