Fawkes API  Fawkes Development Version
max_circle.cpp
00001 
00002 /***************************************************************************
00003  *  max_circle.cpp - Laser data circle data filter (example)
00004  *
00005  *  Created: Fri Oct 10 17:16:57 2008
00006  *  Copyright  2006-2011  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 #include "max_circle.h"
00024 
00025 #include <utils/math/angle.h>
00026 #include <cstdlib>
00027 
00028 /** @class LaserMaxCircleDataFilter "circle.h"
00029  * Cut of laser data at max distance.
00030  * All beams longer than a given radius are cut of at the maximum length.
00031  * @author Tim Niemueller
00032  */
00033 
00034 /** Constructor.
00035  * @param radius radius of cut-off circle in meters
00036  * @param in_data_size number of entries input value arrays
00037  * @param in vector of input arrays
00038  */
00039 LaserMaxCircleDataFilter::LaserMaxCircleDataFilter(float radius,
00040                                                    unsigned int in_data_size,
00041                                                    std::vector<LaserDataFilter::Buffer *> &in)
00042   : LaserDataFilter(in_data_size, in, in.size())
00043 {
00044   __radius = radius;
00045 }
00046 
00047 void
00048 LaserMaxCircleDataFilter::filter()
00049 {
00050   const unsigned int vecsize = std::min(in.size(), out.size());
00051   const unsigned int arrsize = std::min(in_data_size, out_data_size);
00052   for (unsigned int a = 0; a < vecsize; ++a) {
00053     out[a]->frame = in[a]->frame;
00054     float *inbuf  = in[a]->values;
00055     float *outbuf = out[a]->values;
00056     for (unsigned int i = 0; i < arrsize; ++i) {
00057       if (inbuf[i] > __radius) {
00058         outbuf[i] = __radius;
00059       } else {
00060         outbuf[i] = inbuf[i];
00061       }
00062     }
00063   }
00064 }