increment.hpp

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * 
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef FILTERS_MEAN_HPP_
#define FILTERS_MEAN_HPP_
 
#include <stdint.h>
#include <cstring>
#include <stdio.h>
 
#include "filters/filter_base.hpp"
 
namespace filters
{
 
template <typename T>
class IncrementFilter: public FilterBase <T>
{
public:
  IncrementFilter();
 
  ~IncrementFilter();
 
  virtual bool configure();
 
  virtual bool update( const T & data_in, T& data_out);
  
};
 
 
template <typename T>
IncrementFilter<T>::IncrementFilter()
{
}
 
template <typename T>
bool IncrementFilter<T>::configure()
{
    
  return true;
}
 
template <typename T>
IncrementFilter<T>::~IncrementFilter()
{
}
 
 
template <typename T>
bool IncrementFilter<T>::update(const T & data_in, T& data_out)
{
  data_out = data_in + 1;  
 
  return true;
}
 
template <typename T>
class MultiChannelIncrementFilter: public MultiChannelFilterBase <T>
{
public:
  MultiChannelIncrementFilter();
 
  ~MultiChannelIncrementFilter();
 
  virtual bool configure();
 
  virtual bool update( const std::vector<T> & data_in, std::vector<T>& data_out);
  
protected:
  using MultiChannelFilterBase<T>::number_of_channels_;           
 
  
  
};
 
 
template <typename T>
MultiChannelIncrementFilter<T>::MultiChannelIncrementFilter()
{
}
 
template <typename T>
bool MultiChannelIncrementFilter<T>::configure()
{
  
  return true;
}
 
template <typename T>
MultiChannelIncrementFilter<T>::~MultiChannelIncrementFilter()
{
}
 
 
template <typename T>
bool MultiChannelIncrementFilter<T>::update(const std::vector<T> & data_in, std::vector<T>& data_out)
{
  if (data_in.size() != number_of_channels_ || data_out.size() != number_of_channels_)
  {
    ROS_ERROR("Configured with wrong size config:%d in:%d out:%d", number_of_channels_, (int)data_in.size(), (int)data_out.size());
    return false;
  }
 
 
  //Return each value
  for (uint32_t i = 0; i < number_of_channels_; i++)
  {
    data_out[i] = data_in[i] + 1;
  }
 
  return true;
}
 
}
#endif// FILTERS_INCREMENT_HPP_