23 #include "min_merge.h"
25 #include <core/exception.h>
40 std::vector<LaserDataFilter::Buffer *> &in)
49 const unsigned int vecsize =
in.size();
50 if (vecsize == 0)
return;
52 out[0]->frame =
in[0]->frame;
55 float *outbuf =
out[0]->values;
57 for (
unsigned int a = 1; a < vecsize; ++a) {
58 if (
in[a]->frame !=
out[0]->frame) {
59 throw fawkes::Exception(
"MinMerge frame mismatch: two frames with different frame IDs "
60 "(first has %s but input buffer %u has %s)",
61 out[0]->frame.c_str(), a,
in[a]->frame.c_str());
63 float *inbuf =
in[a]->values;
64 for (
unsigned int i = 0; i < (
const unsigned int)
out_data_size; ++i) {
65 if ( (outbuf[i] == 0) || ((inbuf[i] != 0) && (inbuf[i] < outbuf[i])) ) {
std::vector< Buffer * > out
Vector of output arrays.
Base class for exceptions in Fawkes.
virtual void filter()
Filter the incoming data.
void copy_to_outbuf(Buffer *outbuf, const Buffer *inbuf)
Copies the readings from inbuf to outbuf.
LaserMinMergeDataFilter(unsigned int in_data_size, std::vector< LaserDataFilter::Buffer * > &in)
Constructor.
unsigned int out_data_size
Number of entries in output arrays.
std::vector< Buffer * > in
Vector of input arrays.