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 in_data_size number of entries input value arrays
33  * @param in vector of input arrays
34  */
36  std::vector<Buffer *> &in)
37  : LaserDataFilter(in_data_size, in, 0)
38 {
40  out = in;
41  set_array_ownership(false, false);
42 }
43 
44 
45 /** Destructor. */
47 {
49 }
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 
66 /** Add a filter to the cascade.
67  * @param filter filter to add
68  */
69 void
71 {
72  __filters.push_back(filter);
73  out_data_size = filter->get_out_data_size();
74  out = filter->get_out_vector();
75 }
76 
77 
78 /** Remove a filter from the cascade.
79  * @param filter filter to remove
80  */
81 void
83 {
84  __filters.remove(filter);
85 }
86 
87 
88 /** Delete all filters. */
89 void
91 {
92  for (__fit = __filters.begin(); __fit != __filters.end(); ++__fit) {
93  delete *__fit;
94  }
95  __filters.clear();
96 }
97 
98 
99 void
101 {
102  for (__fit = __filters.begin(); __fit != __filters.end(); ++__fit) {
103  (*__fit)->filter();
104  }
105 }
void set_array_ownership(bool own_in, bool own_out)
Set input/output array ownership.
Definition: filter.cpp:208
std::vector< Buffer * > out
Vector of output arrays.
Definition: filter.h:67
virtual void set_out_vector(std::vector< LaserDataFilter::Buffer * > &out)
Set filtered data array.
Definition: cascade.cpp:59
virtual unsigned int get_out_data_size()
Get size of filtered data array.
Definition: filter.cpp:170
LaserDataFilterCascade(unsigned int in_data_size, std::vector< Buffer * > &in)
Constructor.
Definition: cascade.cpp:35
void remove_filter(LaserDataFilter *filter)
Remove a filter from the cascade.
Definition: cascade.cpp:82
void filter()
Filter the incoming data.
Definition: cascade.cpp:100
void add_filter(LaserDataFilter *filter)
Add a filter to the cascade.
Definition: cascade.cpp:70
unsigned int out_data_size
Number of entries in output arrays.
Definition: filter.h:64
~LaserDataFilterCascade()
Destructor.
Definition: cascade.cpp:46
void delete_filters()
Delete all filters.
Definition: cascade.cpp:90
virtual std::vector< Buffer * > & get_out_vector()
Get filtered data array.
Definition: filter.cpp:110
std::vector< Buffer * > in
Vector of input arrays.
Definition: filter.h:66
unsigned int in_data_size
Number of entries in input arrays.
Definition: filter.h:65
Laser data filter.
Definition: filter.h:28