Fawkes API  Fawkes Development Version
min_circle.cpp
1 
2 /***************************************************************************
3  * min_circle.cpp - Laser data min circle data filter
4  *
5  * Created: Sat Feb 19 00:23:27 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_circle.h"
24 
25 #include <utils/math/angle.h>
26 #include <cstdlib>
27 
28 /** @class LaserMinCircleDataFilter "min_circle.h"
29  * Erase beams below a certain minimum distance distance.
30  * All beams shorter than a given radius are erase (set to 0).
31  * @author Tim Niemueller
32  */
33 
34 /** Constructor.
35  * @param radius radius of cut-off circle in meters
36  * @param in_data_size number of entries input value arrays
37  * @param in vector of input arrays
38  */
40  unsigned int in_data_size,
41  std::vector<LaserDataFilter::Buffer *> &in)
42  : LaserDataFilter(in_data_size, in, in.size())
43 {
44  __radius = radius;
45 }
46 
47 
48 void
50 {
51  const unsigned int vecsize = std::min(in.size(), out.size());
52  const unsigned int arrsize = std::min(in_data_size, out_data_size);
53  for (unsigned int a = 0; a < vecsize; ++a) {
54  out[a]->frame = in[a]->frame;
55  float *inbuf = in[a]->values;
56  float *outbuf = out[a]->values;
57  for (unsigned int i = 0; i < arrsize; ++i) {
58  if (inbuf[i] < __radius) {
59  outbuf[i] = 0;
60  } else {
61  outbuf[i] = inbuf[i];
62  }
63  }
64  }
65 }
std::vector< Buffer * > out
Vector of output arrays.
Definition: filter.h:67
void filter()
Filter the incoming data.
Definition: min_circle.cpp:49
LaserMinCircleDataFilter(float radius, unsigned int data_size, std::vector< LaserDataFilter::Buffer * > &in)
Constructor.
Definition: min_circle.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
unsigned int in_data_size
Number of entries in input arrays.
Definition: filter.h:65
Laser data filter.
Definition: filter.h:28