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 <utils/time/time.h>
27 
28 #include <cstdlib>
29 #include <limits>
30 
31 /** @class LaserMinCircleDataFilter "min_circle.h"
32  * Erase beams below a certain minimum distance distance.
33  * All beams shorter than a given radius are erase (set to 0).
34  * @author Tim Niemueller
35  */
36 
37 /** Constructor.
38  * @param filter_name name of this filter instance
39  * @param radius radius of cut-off circle in meters
40  * @param in_data_size number of entries input value arrays
41  * @param in vector of input arrays
42  */
44  float radius,
45  unsigned int in_data_size,
46  std::vector<LaserDataFilter::Buffer *> &in)
47 : LaserDataFilter(filter_name, in_data_size, in, in.size())
48 {
49  radius_ = radius;
50 }
51 
52 void
54 {
55  const unsigned int vecsize = std::min(in.size(), out.size());
56  const unsigned int arrsize = std::min(in_data_size, out_data_size);
57  for (unsigned int a = 0; a < vecsize; ++a) {
58  out[a]->frame = in[a]->frame;
59  out[a]->timestamp->set_time(in[a]->timestamp);
60  float *inbuf = in[a]->values;
61  float *outbuf = out[a]->values;
62  for (unsigned int i = 0; i < arrsize; ++i) {
63  if (inbuf[i] < radius_) {
64  outbuf[i] = std::numeric_limits<float>::quiet_NaN();
65  } else {
66  outbuf[i] = inbuf[i];
67  }
68  }
69  }
70 }
LaserMinCircleDataFilter::LaserMinCircleDataFilter
LaserMinCircleDataFilter(const std::string &filter_name, float radius, unsigned int data_size, std::vector< LaserDataFilter::Buffer * > &in)
Constructor.
Definition: min_circle.cpp:43
LaserDataFilter::in_data_size
unsigned int in_data_size
Definition: filter.h:88
LaserDataFilter::in
std::vector< Buffer * > in
Definition: filter.h:89
LaserMinCircleDataFilter::filter
void filter()
Definition: min_circle.cpp:53
LaserDataFilter::out_data_size
unsigned int out_data_size
Definition: filter.h:87
LaserDataFilter
Definition: filter.h:32
LaserDataFilter::out
std::vector< Buffer * > out
Definition: filter.h:90