The RTFilterBase class is the base class for all real time capable filters. More...

#include <ArmarXCore/observers/filters/rtfilters/RTFilterBase.h>

Inheritance diagram for RTFilterBase:

Public Member Functions
virtual double	calculate ()=0

virtual RTFilterBasePtr	clone () const =0

double	getCurrentValue () const

virtual void	reset ()

	RTFilterBase (const RTFilterBase &other)=default

	RTFilterBase (size_t historySize)

double	update (double deltaSec, double newValue)

virtual double	update (IceUtil::Time const &timestamp, double newValue)

virtual	~RTFilterBase ()

Protected Attributes
double	currentValue = 0.0

boost::circular_buffer< std::pair< IceUtil::Time, double > >	dataHistory

Detailed Description

The RTFilterBase class is the base class for all real time capable filters.

Real Time capable means here that no heap memory allocation is done and no mutexes are locked during the update() function. Also the runtime must be the same during each call (e.g. no random searches).

Definition at line 40 of file RTFilterBase.h.

Constructor & Destructor Documentation

◆ RTFilterBase() [1/2]

RTFilterBase ( size_t historySize )

Definition at line 29 of file RTFilterBase.cpp.

◆ RTFilterBase() [2/2]

RTFilterBase ( const RTFilterBase & other )

default

◆ ~RTFilterBase()

virtual ~RTFilterBase ( )

inlinevirtual

Definition at line 45 of file RTFilterBase.h.

Member Function Documentation

◆ calculate()

virtual double calculate ( )

pure virtual

Implemented in MedianFilter, TimeWindowAverageFilter, ButterworthFilter, GaussianFilter, and AverageFilter.

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◆ clone()

virtual RTFilterBasePtr clone ( ) const

pure virtual

Implemented in TimeWindowAverageFilter, ButterworthFilter, MedianFilter, GaussianFilter, and AverageFilter.

◆ getCurrentValue()

double getCurrentValue ( ) const

Definition at line 47 of file RTFilterBase.cpp.

◆ reset()

void reset ( )

virtual

Definition at line 34 of file RTFilterBase.cpp.

◆ update() [1/2]

double update	(	double	deltaSec,
		double	newValue
	)

Definition at line 52 of file RTFilterBase.cpp.

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◆ update() [2/2]

double update	(	IceUtil::Time const &	timestamp,
		double	newValue
	)

virtual

Reimplemented in ButterworthFilter.

Definition at line 40 of file RTFilterBase.cpp.

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Member Data Documentation

◆ currentValue

double currentValue = 0.0

protected

Definition at line 55 of file RTFilterBase.h.

◆ dataHistory

boost::circular_buffer<std::pair<IceUtil::Time, double> > dataHistory