Fawkes API Fawkes Development Version
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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_FILTERS_DEADSPOTS_H_ 00024 #define __PLUGINS_LASER_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 ~LaserDeadSpotsDataFilter(); 00043 00044 void filter(const float *data, unsigned int data_size); 00045 00046 private: 00047 fawkes::Logger *__logger; 00048 00049 unsigned int __num_spots; 00050 unsigned int *__dead_spots; 00051 std::vector<std::pair<float, float> > __cfg_dead_spots; 00052 }; 00053 00054 #endif