Fawkes API  Fawkes Development Version
min_merge.cpp
1 
2 /***************************************************************************
3  * min_merge.cpp - Laser min merge data filter
4  *
5  * Created: Wed Mar 16 21:46:36 2011
6  * Copyright 2006-2011 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 #include "min_merge.h"
24 
25 #include <core/exception.h>
26 #include <cstring>
27 
28 /** @class LaserMinMergeDataFilter "min_merge.h"
29  * Merge multiple laser data arrays into one.
30  * For each value in the output array takes the minimum value of all input
31  * arrays.
32  * @author Tim Niemueller
33  */
34 
35 /** Constructor.
36  * @param in_data_size number of entries input value arrays
37  * @param in vector of input arrays
38  */
40  std::vector<LaserDataFilter::Buffer *> &in)
41  : LaserDataFilter(in_data_size, in, 1)
42 {
43 }
44 
45 
46 void
48 {
49  const unsigned int vecsize = in.size();
50  if (vecsize == 0) return;
51 
52  out[0]->frame = in[0]->frame;
53 
54  copy_to_outbuf(out[0], in[0]);
55  float *outbuf = out[0]->values;
56 
57  for (unsigned int a = 1; a < vecsize; ++a) {
58  if (in[a]->frame != out[0]->frame) {
59  throw fawkes::Exception("MinMerge frame mismatch: two frames with different frame IDs "
60  "(first has %s but input buffer %u has %s)",
61  out[0]->frame.c_str(), a, in[a]->frame.c_str());
62  }
63  float *inbuf = in[a]->values;
64  for (unsigned int i = 0; i < (const unsigned int)out_data_size; ++i) {
65  if ( (outbuf[i] == 0) || ((inbuf[i] != 0) && (inbuf[i] < outbuf[i])) ) {
66  outbuf[i] = inbuf[i];
67  }
68  }
69  }
70 }
std::vector< Buffer * > out
Vector of output arrays.
Definition: filter.h:67
Base class for exceptions in Fawkes.
Definition: exception.h:36
virtual void filter()
Filter the incoming data.
Definition: min_merge.cpp:47
void copy_to_outbuf(Buffer *outbuf, const Buffer *inbuf)
Copies the readings from inbuf to outbuf.
Definition: filter.cpp:191
LaserMinMergeDataFilter(unsigned int in_data_size, std::vector< LaserDataFilter::Buffer * > &in)
Constructor.
Definition: min_merge.cpp:39
unsigned int out_data_size
Number of entries in output arrays.
Definition: filter.h:64
std::vector< Buffer * > in
Vector of input arrays.
Definition: filter.h:66
Laser data filter.
Definition: filter.h:28