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  */
36 LaserDataFilterCascade::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  */
58 void
59 LaserDataFilterCascade::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  */
68 void
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  */
79 void
81 {
82  filters_.remove(filter);
83 }
84 
85 /** Delete all filters. */
86 void
88 {
89  for (fit_ = filters_.begin(); fit_ != filters_.end(); ++fit_) {
90  delete *fit_;
91  }
92  filters_.clear();
93 }
94 
95 void
97 {
98  for (fit_ = filters_.begin(); fit_ != filters_.end(); ++fit_) {
99  (*fit_)->filter();
100  }
101 }
void set_array_ownership(bool own_in, bool own_out)
Set input/output array ownership.
Definition: filter.cpp:211
std::vector< Buffer * > out
Vector of output arrays.
Definition: filter.h:90
virtual void set_out_vector(std::vector< LaserDataFilter::Buffer * > &out)
Set filtered data array.
Definition: cascade.cpp:59
void remove_filter(LaserDataFilter *filter)
Remove a filter from the cascade.
Definition: cascade.cpp:80
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
void add_filter(LaserDataFilter *filter)
Add a filter to the cascade.
Definition: cascade.cpp:69
unsigned int out_data_size
Number of entries in output arrays.
Definition: filter.h:87
~LaserDataFilterCascade()
Destructor.
Definition: cascade.cpp:47
void delete_filters()
Delete all filters.
Definition: cascade.cpp:87
std::vector< Buffer * > in
Vector of input arrays.
Definition: filter.h:89
unsigned int in_data_size
Number of entries in input arrays.
Definition: filter.h:88
Laser data filter.
Definition: filter.h:32