median_filter.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 LASER_SCAN_MEDIAN_FILTER_H
#define LASER_SCAN_MEDIAN_FILTER_H

#include <map>
#include <iostream>
#include <sstream>

#include "boost/thread/mutex.hpp"
#include "boost/scoped_ptr.hpp"
#include "sensor_msgs/LaserScan.h"

#include "filters/median.h"
#include "filters/mean.h"
#include "filters/filter_chain.h"
#include "boost/thread/mutex.hpp"

namespace laser_filters{

class LaserMedianFilter : public filters::FilterBase<sensor_msgs::LaserScan> 
{
public:
  LaserMedianFilter();
  ~LaserMedianFilter();

  bool configure();

  bool update(const sensor_msgs::LaserScan& scan_in, sensor_msgs::LaserScan& scan_out);


private:
  unsigned int filter_length_; 
  unsigned int num_ranges_; 

  boost::mutex data_lock; 
  sensor_msgs::LaserScan temp_scan_; 
  XmlRpc::XmlRpcValue xmlrpc_value_;
  
  filters::MultiChannelFilterChain<float> * range_filter_;
  filters::MultiChannelFilterChain<float> * intensity_filter_;
  
};





}


#endif //LASER_SCAN_UTILS_LASERSCAN_H