GaussianFilter.cpp

Go to the documentation of this file.

/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    ArmarX
 * @author     Mirko Waechter( mirko.waechter at kit dot edu)
 * @date       2016
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#include "GaussianFilter.h"
 
#include <ArmarXCore/observers/exceptions/user/InvalidTypeException.h>
 
namespace armarx
{
    armarx::filters::GaussianFilter::GaussianFilter(int filterSizeInMs, int windowSize)
    {
        this->filterSizeInMs = filterSizeInMs;
        this->windowFilterSize = windowSize;
    }
 
    armarx::VariantBasePtr
    armarx::filters::GaussianFilter::calculate(const Ice::Current&) const
    {
        std::unique_lock lock(historyMutex);
 
        if (dataHistory.size() == 0)
        {
            return nullptr;
        }
 
        VariantTypeId type = dataHistory.begin()->second->getType();
 
        if (type == VariantType::Float)
        {
            return new Variant(calcGaussianFilteredValue<float>(dataHistory));
        }
        else if (type == VariantType::Double)
        {
            return new Variant(calcGaussianFilteredValue<double>(dataHistory));
        }
        else if (type == VariantType::Int)
        {
            return new Variant(calcGaussianFilteredValue<int>(dataHistory));
        }
        else if (type == VariantType::Int)
        {
            return new Variant(calcGaussianFilteredValue<long>(dataHistory));
        }
 
        throw exceptions::user::UnsupportedTypeException(type);
    }
 
    armarx::ParameterTypeList
    armarx::filters::GaussianFilter::getSupportedTypes(const Ice::Current&) const
    {
        ParameterTypeList result;
        result.push_back(VariantType::Int);
        result.push_back(VariantType::Long);
        result.push_back(VariantType::Float);
        result.push_back(VariantType::Double);
        return result;
    }
 
    armarx::StringFloatDictionary
    armarx::filters::GaussianFilter::getProperties(const Ice::Current&) const
    {
        auto props = DatafieldFilter::getProperties();
        props["filterSizeInMs"] = filterSizeInMs;
        return props;
    }
 
    void
    armarx::filters::GaussianFilter::setProperties(const armarx::StringFloatDictionary& newValues,
                                                   const Ice::Current&)
    {
        auto it = newValues.find("filterSizeInMs");
        if (it != newValues.end())
        {
            filterSizeInMs = it->second;
        }
        DatafieldFilter::setProperties(newValues);
    }
} // namespace armarx