MedianFilter.h

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/*
 * 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
 * @author
 * @date
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
#include <ArmarXCore/interface/observers/Filters.h>
#include <ArmarXCore/interface/observers/ObserverInterface.h>
#include <ArmarXCore/observers/exceptions/user/InvalidTypeException.h>
 
#include "DatafieldFilter.h"
 
namespace armarx
{
    template <class IceBaseClass, class DerivedClass>
    class GenericFactory;
}
 
namespace armarx::filters
{
 
    /**
     * @class MedianFilter
     * @ingroup ObserverFilters
     * @brief The MedianFilter class provides an implementation
     *  for a median for datafields of type float, int, long and double.
     */
    class MedianFilter : virtual public MedianFilterBase, virtual public DatafieldFilter
    {
    public:
        MedianFilter(int windowSize = 11);
 
        // DatafieldFilterBase interface
    public:
        VariantBasePtr calculate(const Ice::Current& c = Ice::emptyCurrent) const override;
 
        /**
         * @brief This filter supports: Int, Long, Float, Double
         * @return List of VariantTypes
         */
        ParameterTypeList
        getSupportedTypes(const Ice::Current& c = Ice::emptyCurrent) const override;
 
        template <typename Type>
        static std::vector<Type>
        SortVariants(const TimeVariantBaseMap& map)
        {
            std::vector<Type> values;
 
            for (auto v : map)
            {
                VariantPtr v2 = VariantPtr::dynamicCast(v.second);
                values.push_back(v2->get<Type>());
            }
 
            std::sort(values.begin(), values.end());
            return values;
        }
    };
 
 
} // namespace armarx::filters