Fawkes API  Fawkes Development Version
deadspots.h
1 
2 /***************************************************************************
3  * deadspots.h - Laser data dead spots filter
4  *
5  * Created: Wed Jun 24 22:39:19 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 #ifndef __PLUGINS_LASER_FILTER_FILTERS_DEADSPOTS_H_
24 #define __PLUGINS_LASER_FILTER_FILTERS_DEADSPOTS_H_
25 
26 #include "filter.h"
27 
28 #include <vector>
29 #include <utility>
30 #include <string>
31 
32 namespace fawkes {
33  class Configuration;
34  class Logger;
35 }
36 
38 {
39  public:
40  LaserDeadSpotsDataFilter(const std::string filter_name,
41  fawkes::Configuration *config, fawkes::Logger *logger,
42  std::string prefix,
43  unsigned int data_size, std::vector<LaserDataFilter::Buffer *> &in);
45 
46  void filter();
47 
48  private:
49  void calc_spots();
50  void set_out_vector(std::vector<LaserDataFilter::Buffer *> &out);
51 
52 
53  private:
54  fawkes::Logger *__logger;
55 
56  unsigned int __num_spots;
57  unsigned int *__dead_spots;
58  std::vector<std::pair<float, float> > __cfg_dead_spots;
59 };
60 
61 #endif
Fawkes library namespace.
Erase dead spots (i.e.
Definition: deadspots.h:37
Interface for configuration handling.
Definition: config.h:67
Laser data filter.
Definition: filter.h:32
Interface for logging.
Definition: logger.h:34