RtMedianFilter.h

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#pragma once
 
 
// STD/STL
#include <vector>
 
// Boost
#include <boost/circular_buffer.hpp>
 
namespace armarx::control::rt_filters
{
 
    class RtMedianFilter
    {
    public:
        RtMedianFilter(size_t windowSize = 10);
 
        float update(float value);
 
        std::size_t getWindowSize() const;
 
    private:
        boost::circular_buffer<float> dataHistory;
        std::vector<float> medianBuffer;
    };
 
} // namespace armarx::control::rt_filters