.. _program_listing_file__tmp_ws_src_filters_include_filters_increment.hpp:

Program Listing for File increment.hpp
======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_filters_include_filters_increment.hpp>` (``/tmp/ws/src/filters/include/filters/increment.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * 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"
    * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
    * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
    * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
    * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
    * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
    * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
    * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
    * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
    * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    * POSSIBILITY OF SUCH DAMAGE.
    */
   
   #ifndef FILTERS__INCREMENT_HPP_
   #define FILTERS__INCREMENT_HPP_
   
   #include <vector>
   
   #include "filters/filter_base.hpp"
   
   namespace filters
   {
   
   template<typename T>
   class IncrementFilter : public FilterBase<T>
   {
   public:
     IncrementFilter();
   
     ~IncrementFilter() override;
   
     bool configure() override;
   
     bool update(const T & data_in, T & data_out) override;
   };
   
   
   template<typename T>
   IncrementFilter<T>::IncrementFilter()
   {
   }
   
   template<typename T>
   IncrementFilter<T>::~IncrementFilter()
   {
   }
   
   template<typename T>
   bool IncrementFilter<T>::configure()
   {
     return true;
   }
   
   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() override;
   
     bool configure() override;
   
     bool update(const std::vector<T> & data_in, std::vector<T> & data_out) override;
   
   protected:
     using MultiChannelFilterBase<T>::number_of_channels_;  
   };
   
   
   template<typename T>
   MultiChannelIncrementFilter<T>::MultiChannelIncrementFilter()
   {
   }
   
   template<typename T>
   MultiChannelIncrementFilter<T>::~MultiChannelIncrementFilter()
   {
   }
   
   template<typename T>
   bool MultiChannelIncrementFilter<T>::configure()
   {
     return true;
   }
   
   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_) {
       RCLCPP_ERROR(
         this->logging_interface_->get_logger(),
         "Configured with wrong size config: %ld, in: %ld out: %ld",
         number_of_channels_, data_in.size(), data_out.size());
       return false;
     }
   
     // Return each value
     for (size_t i = 0; i < number_of_channels_; ++i) {
       data_out[i] = data_in[i] + 1;
     }
   
     return true;
   }
   
   }  // namespace filters
   
   #endif  // FILTERS__INCREMENT_HPP_