Template Class FilterBase

Defined in File filter_base.hpp

Inheritance Relationships

Derived Types

public filters::IncrementFilter< T > (Template Class IncrementFilter)
public filters::MeanFilter< T > (Template Class MeanFilter)
public filters::MedianFilter< T > (Template Class MedianFilter)
public filters::MultiChannelFilterBase< T > (Template Class MultiChannelFilterBase)
public filters::ParamTest< T > (Template Class ParamTest)
public filters::SingleChannelTransferFunctionFilter< T > (Template Class SingleChannelTransferFunctionFilter)

Class Documentation

template<typename T> class FilterBase

A Base filter class to provide a standard interface for all filters.

Subclassed by filters::IncrementFilter< T >, filters::MeanFilter< T >, filters::MedianFilter< T >, filters::MultiChannelFilterBase< T >, filters::ParamTest< T >, filters::SingleChannelTransferFunctionFilter< T >

Public Functions

inline FilterBase(): Default constructor used by Filter Factories.

virtual ~FilterBase() = default: Virtual Destructor.

inline bool configure(const std::string &param_prefix, const std::string &filter_name, const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr &node_logger, const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr &node_params)

Configure the filter from the parameter server.

Parameters:

The – parameter from which to read the configuration
node_handle – The optional node handle, useful if operating in a different namespace.

virtual bool update(const T &data_in, T &data_out) = 0

Update the filter and return the data seperately This is an inefficient way to do this and can be overridden in the derived class.

Parameters:

data_in – A reference to the data to be input to the filter
data_out – A reference to the data output location

inline virtual rcl_interfaces::msg::SetParametersResult reconfigureCB(std::vector<rclcpp::Parameter> parameters)

reconfigureCB can be overridden in the derived class

Parameters:: parameters – A vector parameters to be reconfigured

inline const std::string &getName(): Get the name of the filter as a string.

inline const std::string &getParamPrefix(): Get the parameter_prefix of the filter as a string.

Protected Functions

virtual bool configure() = 0: Pure virtual function for the sub class to configure the filter This function must be implemented in the derived class.

inline bool getParam(const std::string &name, std::string &value, bool read_only = true, std::string default_value = std::string())

Get a filter parameter as a string.

Parameters:

name – The name of the parameter
value – The string to set with the value
default_value – The default value to use if the parameter is not set

Returns: