Fawkes API  Fawkes Development Version
deadspots.h
00001 
00002 /***************************************************************************
00003  *  deadspots.h - Laser data dead spots filter
00004  *
00005  *  Created: Wed Jun 24 22:39:19 2009
00006  *  Copyright  2006-2009  Tim Niemueller [www.niemueller.de]
00007  *
00008  ****************************************************************************/
00009 
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version.
00014  *
00015  *  This program is distributed in the hope that it will be useful,
00016  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00018  *  GNU Library General Public License for more details.
00019  *
00020  *  Read the full text in the LICENSE.GPL file in the doc directory.
00021  */
00022 
00023 #ifndef __PLUGINS_LASER_FILTER_FILTERS_DEADSPOTS_H_
00024 #define __PLUGINS_LASER_FILTER_FILTERS_DEADSPOTS_H_
00025 
00026 #include "filter.h"
00027 
00028 #include <vector>
00029 #include <utility>
00030 #include <string>
00031 
00032 namespace fawkes {
00033   class Configuration;
00034   class Logger;
00035 }
00036 
00037 class LaserDeadSpotsDataFilter : public LaserDataFilter
00038 {
00039  public:
00040   LaserDeadSpotsDataFilter(fawkes::Configuration *config, fawkes::Logger *logger,
00041                            std::string prefix,
00042                            unsigned int data_size, std::vector<LaserDataFilter::Buffer *> &in);
00043   ~LaserDeadSpotsDataFilter();
00044 
00045   void filter();
00046 
00047  private:
00048   void calc_spots();
00049   void set_out_vector(std::vector<LaserDataFilter::Buffer *> &out);
00050 
00051 
00052  private:
00053   fawkes::Logger *__logger;
00054 
00055   unsigned int  __num_spots;
00056   unsigned int *__dead_spots;
00057   std::vector<std::pair<float, float> > __cfg_dead_spots;
00058 };
00059 
00060 #endif