Fawkes API Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * cascade.h - Laser data filter cascade 00004 * 00005 * Created: Thu Jun 25 01:04:59 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_FILTERS_CASCADE_H_ 00024 #define __PLUGINS_LASER_FILTERS_CASCADE_H_ 00025 00026 #include "../filter.h" 00027 00028 #include <list> 00029 00030 class LaserDataFilterCascade : public LaserDataFilter 00031 { 00032 public: 00033 LaserDataFilterCascade(bool own_filters = true); 00034 ~LaserDataFilterCascade(); 00035 00036 void add_filter(LaserDataFilter *filter); 00037 void remove_filter(LaserDataFilter *filter); 00038 void delete_filters(); 00039 00040 /** Check if filters have been added to the cascade. 00041 * @return true if filters have been registered, false otherwise */ 00042 inline bool has_filters() const { return ! __filters.empty(); } 00043 00044 void filter(const float *data, unsigned int data_size); 00045 00046 private: 00047 bool __own_filters; 00048 std::list<LaserDataFilter *> __filters; 00049 std::list<LaserDataFilter *>::iterator __fit; 00050 }; 00051 00052 #endif