Fawkes API Fawkes Development Version
cascade.cpp
1
2/***************************************************************************
3 * cascade.cpp - Laser data filter cascade
4 *
5 * Created: Thu Jun 25 01:07:53 2009
6 * Copyright 2006-2009 Tim Niemueller [www.niemueller.de]
7 *
8 ****************************************************************************/
9
10/* This program is free software; you can redistribute it and/or modify
11 * it under the terms of the GNU General Public License as published by
12 * the Free Software Foundation; either version 2 of the License, or
13 * (at your option) any later version.
14 *
15 * This program is distributed in the hope that it will be useful,
16 * but WITHOUT ANY WARRANTY; without even the implied warranty of
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18 * GNU Library General Public License for more details.
19 *
20 * Read the full text in the LICENSE.GPL file in the doc directory.
21 */
22
23#include "cascade.h"
24
25/** @class LaserDataFilterCascade "filters/cascade.h"
26 * Cascade of several laser filters to one.
27 * The filters are executed in the order they are added to the cascade.
28 * @author Tim Niemueller
29 */
30
31/** Constructor.
32 * @param filter_name name of this filter combo
33 * @param in_data_size number of entries input value arrays
34 * @param in vector of input arrays
35 */
36LaserDataFilterCascade::LaserDataFilterCascade(const std::string & filter_name,
37 unsigned int in_data_size,
38 std::vector<Buffer *> &in)
39: LaserDataFilter(filter_name, in_data_size, in, 0)
40{
42 out = in;
43 set_array_ownership(false, false);
44}
45
46/** Destructor. */
48{
50}
51
52/** Set filtered data array
53 * @param out vector of output values. The vector is only accepted if it has
54 * the same size as the current one. The filter will now longer assume
55 * ownership of the arrays in the vector. Either free the memory or call
56 * set_array_ownership().
57 */
58void
59LaserDataFilterCascade::set_out_vector(std::vector<LaserDataFilter::Buffer *> &out)
60{
61 filters_.back()->set_out_vector(out);
62 this->out = filters_.back()->get_out_vector();
63}
64
65/** Add a filter to the cascade.
66 * @param filter filter to add
67 */
68void
70{
71 filters_.push_back(filter);
72 out_data_size = filter->get_out_data_size();
73 out = filter->get_out_vector();
74}
75
76/** Remove a filter from the cascade.
77 * @param filter filter to remove
78 */
79void
81{
82 filters_.remove(filter);
83}
84
85/** Delete all filters. */
86void
88{
89 for (fit_ = filters_.begin(); fit_ != filters_.end(); ++fit_) {
90 delete *fit_;
91 }
92 filters_.clear();
93}
94
95void
97{
98 for (fit_ = filters_.begin(); fit_ != filters_.end(); ++fit_) {
99 (*fit_)->filter();
100 }
101}
void add_filter(LaserDataFilter *filter)
Add a filter to the cascade.
Definition: cascade.cpp:69
virtual void set_out_vector(std::vector< LaserDataFilter::Buffer * > &out)
Set filtered data array.
Definition: cascade.cpp:59
~LaserDataFilterCascade()
Destructor.
Definition: cascade.cpp:47
void remove_filter(LaserDataFilter *filter)
Remove a filter from the cascade.
Definition: cascade.cpp:80
void delete_filters()
Delete all filters.
Definition: cascade.cpp:87
LaserDataFilterCascade(const std::string &filter_name, unsigned int in_data_size, std::vector< Buffer * > &in)
Constructor.
Definition: cascade.cpp:36
void filter()
Filter the incoming data.
Definition: cascade.cpp:96
Laser data filter.
Definition: filter.h:33
void set_array_ownership(bool own_in, bool own_out)
Set input/output array ownership.
Definition: filter.cpp:211
unsigned int out_data_size
Number of entries in output arrays.
Definition: filter.h:87
unsigned int in_data_size
Number of entries in input arrays.
Definition: filter.h:88
std::vector< Buffer * > out
Vector of output arrays.
Definition: filter.h:90
std::vector< Buffer * > in
Vector of input arrays.
Definition: filter.h:89