medianFilter.h

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/*
 * Copyright (c) 2008, 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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#ifndef AR_TRACK_ALVAR_MEDIAN_FILTER_H
#define AR_TRACK_ALVAR_MEDIAN_FILTER_H

#include "ar_track_alvar/Pose.h"

namespace ar_track_alvar
{

class MedianFilter
{
 public:
  MedianFilter(int n);
  void addPose(const alvar::Pose &new_pose);
  void getMedian(alvar::Pose &ret_pose);

 private:
  int median_n;  
  alvar::Pose *median_poses;
  int median_ind;
  bool median_init;
};


} // namespace

#endif // include guard