mean.hpp

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
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 * 
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#ifndef FILTERS_MEAN_HPP_
#define FILTERS_MEAN_HPP_
 
#include <stdint.h>
#include <cstring>
#include <stdio.h>
 
#include <memory>
 
#include "filters/filter_base.hpp"
#include "ros/assert.h"
 
#include "filters/realtime_circular_buffer.hpp"
 
namespace filters
{
 
template <typename T>
class MeanFilter: public FilterBase <T>
{
public:
  MeanFilter();
 
  ~MeanFilter();
 
  virtual bool configure();
 
  virtual bool update( const T & data_in, T& data_out);
  
protected:
  std::unique_ptr<RealtimeCircularBuffer<T > > data_storage_; 
  uint32_t last_updated_row_;                     
  T temp_; 
  uint32_t number_of_observations_;             
  
};
 
 
template <typename T>
MeanFilter<T>::MeanFilter():
  number_of_observations_(0)
{
}
 
template <typename T>
bool MeanFilter<T>::configure()
{
  
  if (!FilterBase<T>::getParam(std::string("number_of_observations"), number_of_observations_))
  {
    ROS_ERROR("MeanFilter did not find param number_of_observations");
    return false;
  }
  
  data_storage_.reset(new RealtimeCircularBuffer<T >(number_of_observations_, temp_));
 
  return true;
}
 
template <typename T>
MeanFilter<T>::~MeanFilter()
{
}
 
 
template <typename T>
bool MeanFilter<T>::update(const T & data_in, T& data_out)
{
  //update active row
  if (last_updated_row_ >= number_of_observations_ - 1)
    last_updated_row_ = 0;
  else
    last_updated_row_++;
 
  data_storage_->push_back(data_in);
 
 
  unsigned int length = data_storage_->size();
  
  data_out = 0;
  for (uint32_t row = 0; row < length; row ++)
  {
    data_out += data_storage_->at(row);
  }
  data_out /= length;
  
 
  return true;
}
 
template <typename T>
class MultiChannelMeanFilter: public MultiChannelFilterBase <T>
{
public:
  MultiChannelMeanFilter();
 
  ~MultiChannelMeanFilter();
 
  virtual bool configure();
 
  virtual bool update( const std::vector<T> & data_in, std::vector<T>& data_out);
  
protected:
  std::unique_ptr<RealtimeCircularBuffer<std::vector<T> > > data_storage_; 
  uint32_t last_updated_row_;                     
 
  std::vector<T> temp;  //used for preallocation and copying from non vector source
 
  uint32_t number_of_observations_;             
  using MultiChannelFilterBase<T>::number_of_channels_;           
 
  
  
};
 
 
template <typename T>
MultiChannelMeanFilter<T>::MultiChannelMeanFilter():
  number_of_observations_(0)
{
}
 
template <typename T>
bool MultiChannelMeanFilter<T>::configure()
{
  
  if (!FilterBase<T>::getParam("number_of_observations", number_of_observations_))
  {
    ROS_ERROR("MultiChannelMeanFilter did not find param number_of_observations");
    return false;
  }
  
  temp.resize(number_of_channels_);
  data_storage_.reset(new RealtimeCircularBuffer<std::vector<T> >(number_of_observations_, temp));
 
  return true;
}
 
template <typename T>
MultiChannelMeanFilter<T>::~MultiChannelMeanFilter()
{
}
 
 
template <typename T>
bool MultiChannelMeanFilter<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;
  }
 
  //update active row
  if (last_updated_row_ >= number_of_observations_ - 1)
    last_updated_row_ = 0;
  else
    last_updated_row_++;
 
  data_storage_->push_back(data_in);
 
 
  unsigned int length = data_storage_->size();
  
  //Return each value
  for (uint32_t i = 0; i < number_of_channels_; i++)
  {
    data_out[i] = 0;
    for (uint32_t row = 0; row < length; row ++)
    {
      data_out[i] += data_storage_->at(row)[i];
    }
    data_out[i] /= length;
  }
 
  return true;
}
 
}
#endif// FILTERS_MEAN_HPP_