GaussianFilter.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 <cmath>
 
#include <ArmarXCore/interface/observers/Filters.h>
 
#include "DatafieldFilter.h"
 
namespace armarx::filters
{
 
 
    /**
     * @class  GaussianFilter
     * @ingroup ObserverFilters
     * @brief The GaussianFilter class provides a filter implemtentation
     * with gaussian weighted values for datafields of type float, int, long and double.
     */
    class GaussianFilter : public DatafieldFilter, public GaussianFilterBase
    {
    public:
        /**
         * @brief GaussianFilter
         * @param filterSizeInMs Width of the gauss function
         * @param windowSize size of the filter window
         */
        GaussianFilter(int filterSizeInMs = 200, int windowSize = 20);
 
 
        // DatafieldFilterBase interface
    public:
        template <typename Type>
        Type
        calcGaussianFilteredValue(const TimeVariantBaseMap& map) const
        {
            const double sigma = filterSizeInMs / 2.5;
            //-log(0.05) / pow(itemsToCheck+1+centerIndex,2) * ( sqrt(1.0/h) * sqrt(2*3.14159265));
 
            double weightedSum = 0;
            double sumOfWeight = 0;
 
 
            const double sqrt2PI = sqrt(2 * M_PI);
 
 
            for (auto it = map.begin(); it != map.end(); it++)
            {
                double value;
                value = VariantPtr::dynamicCast(it->second)->get<Type>();
                double diff = 0.001 * (it->first - map.rbegin()->first);
 
                double squared = diff * diff;
                const double gaussValue = exp(-squared / (2 * sigma * sigma)) / (sigma * sqrt2PI);
                sumOfWeight += gaussValue;
                weightedSum += gaussValue * value;
            }
 
            double result;
            result = weightedSum / sumOfWeight;
            return result;
        }
 
        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;
 
 
        // DatafieldFilterBase interface
    public:
        StringFloatDictionary
        getProperties(const Ice::Current& c = Ice::emptyCurrent) const override;
        void setProperties(const StringFloatDictionary& newValues,
                           const Ice::Current& c = Ice::emptyCurrent) override;
    };
 
} // namespace armarx::filters