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src
gz-math
include
gz
math
MovingWindowFilter.hh
Go to the documentation of this file.
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/*
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* Copyright (C) 2016 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef GZ_MATH_MOVINGWINDOWFILTER_HH_
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#define GZ_MATH_MOVINGWINDOWFILTER_HH_
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#include <memory>
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#include <vector>
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#include <gz/math/config.hh>
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#include <gz/math/Export.hh>
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#include <
gz/math/Vector3.hh
>
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#include <gz/utils/SuppressWarning.hh>
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namespace
gz::math
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{
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// Inline bracket to help doxygen filtering.
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inline
namespace
GZ_MATH_VERSION_NAMESPACE {
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template
<
typename
T>
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class
MovingWindowFilter
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{
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public
:
MovingWindowFilter
(
unsigned
int
_windowSize
= 4);
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public
:
virtual
~MovingWindowFilter
() =
default
;
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public
:
void
Update(
const
T
_val
);
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public
:
void
SetWindowSize(
const
unsigned
int
_n
);
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public
:
unsigned
int
WindowSize()
const
;
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public
:
bool
WindowFilled()
const
;
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public
: T Value()
const
;
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public
:
unsigned
int
valWindowSize = 4;
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public
:
unsigned
int
samples = 0;
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GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
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public
:
std::vector<T>
valHistory
;
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public
:
typename
std::vector<T>::iterator
valIter
;
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public
: T
sum
;
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GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
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};
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using
MovingWindowFilteri
=
MovingWindowFilter<int>
;
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using
MovingWindowFilterf
=
MovingWindowFilter<float>
;
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using
MovingWindowFilterd
=
MovingWindowFilter<double>
;
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using
MovingWindowFilterVector3i
=
MovingWindowFilter<Vector3i>
;
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using
MovingWindowFilterVector3f
=
MovingWindowFilter<Vector3f>
;
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using
MovingWindowFilterVector3d
=
MovingWindowFilter<Vector3d>
;
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}
// namespace GZ_MATH_VERSION_NAMESPACE
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template
<
typename
T>
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MovingWindowFilter<T>::MovingWindowFilter
(
unsigned
int
_windowSize
)
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{
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this->SetWindowSize(
_windowSize
);
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}
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template
<
typename
T>
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void
MovingWindowFilter<T>::Update
(
const
T
_val
)
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{
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// update sum and sample size with incoming _val
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// keep running sum
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this->sum +=
_val
;
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// shift pointer, wrap around if end has been reached.
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++this->valIter;
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if
(this->valIter == this->valHistory.end())
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{
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// reset iterator to beginning of queue
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this->valIter = this->valHistory.begin();
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}
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// increment sample size
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++this->samples;
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if
(this->samples > this->valWindowSize)
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{
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// subtract old value if buffer already filled
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this->sum -= (*this->valIter);
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// put new value into queue
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(*this->valIter) =
_val
;
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// reduce sample size
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--this->samples;
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}
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else
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{
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// put new value into queue
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(*this->valIter) =
_val
;
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}
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}
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template
<
typename
T>
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void
MovingWindowFilter<T>::SetWindowSize
(
const
unsigned
int
_n
)
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{
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this->valWindowSize =
_n
;
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this->valHistory =
std::vector<T>
(
_n
, T());
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this->valIter = this->valHistory.begin();
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this->sum = T();
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this->samples = 0;
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}
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template
<
typename
T>
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unsigned
int
MovingWindowFilter<T>::WindowSize
()
const
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{
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return
this->valWindowSize;
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}
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template
<
typename
T>
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bool
MovingWindowFilter<T>::WindowFilled
()
const
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{
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return
this->samples == this->valWindowSize;
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}
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template
<>
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inline
gz::math::Vector3i
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MovingWindowFilter<gz::math::Vector3i>::Value
()
const
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{
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auto
value = this->sum / this->samples;
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return
value;
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}
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template
<>
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inline
gz::math::Vector3f
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MovingWindowFilter<gz::math::Vector3f>::Value
()
const
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{
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gz::math::Vector3f
divisor
;
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divisor
=
static_cast<
float
>
(this->samples);
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auto
value = this->sum /
divisor
;
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return
value;
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}
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template
<>
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inline
gz::math::Vector3d
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MovingWindowFilter<gz::math::Vector3d>::Value
()
const
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{
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auto
value = this->sum / this->samples;
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return
value;
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}
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template
<
typename
T>
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T
MovingWindowFilter<T>::Value
()
const
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{
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if
(std::is_integral_v<T>)
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{
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auto
value = this->sum / this->samples;
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return
T(value);
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}
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else
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{
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auto
value = this->sum /
static_cast<
double
>
(this->samples);
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return
T(value);
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}
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}
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}
// namespace gz::math
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#endif
// GZ_MATH_MOVINGWINDOWFILTER_HH_