filter.cc

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/*
 *  Copyright (C) 2011 Austin Robot Technology
 *  License: Modified BSD Software License Agreement
 * 
 *  $Id: accel.h 1539 2011-05-09 04:09:20Z jack.oquin $
 */

#include <filters/realtime_circular_buffer.h>
#include <art_observers/filter.h>

MedianFilter::MedianFilter() 
{
  number_of_observations_ = 5;
}

MedianFilter::~MedianFilter() 
{
}

bool MedianFilter::configure() 
{
  // Hack to overwrite configure for the median filter
  configured_=true; 
  data_storage_.reset( new filters::RealtimeCircularBuffer<float >(number_of_observations_, temp));
  temp_storage_.resize(number_of_observations_);
  return true;
};

bool MedianFilter::isFull() 
{
  if (data_storage_->size() == number_of_observations_)
    return true;
  else
    return false;
}

// -------------------------

MeanFilter::MeanFilter() 
{
  number_of_observations_ = 5;
}

MeanFilter::~MeanFilter() 
{
}

bool MeanFilter::configure() 
{
  // Hack to overwrite configure for the mean filter
  configured_=true; 
  data_storage_.reset(new filters::RealtimeCircularBuffer<float>(number_of_observations_, temp_));
  return true;
};

bool MeanFilter::isFull() 
{
  if (data_storage_->size() == number_of_observations_)
    return true;
  else
    return false;
}