Program Listing for File 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"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 */

#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_