TimeWindowAverageFilter.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2017, 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       2019
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include "RTFilterBase.h"
 
namespace armarx::rtfilters
{
 
    /**
     * @brief This filters allows to filter with an unstable frequency by considering only the
     * valus in a specified timewindow. An average filter is applied to all values in the time window.
     */
    class TimeWindowAverageFilter : public RTFilterBase
    {
    public:
        TimeWindowAverageFilter(IceUtil::Time timeWindowSize, double maxFrequency);
 
        // RTFilterBase interface
    public:
        double calculate() override;
        RTFilterBasePtr clone() const override;
 
    private:
        IceUtil::Time timeWindowSize;
    };
 
} // namespace armarx::rtfilters