RTFilterBase.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       2017
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#ifndef RTFILTERBASE_H
#define RTFILTERBASE_H
 
#include <boost/circular_buffer.hpp>
 
#include <IceUtil/Time.h>
 
namespace armarx::rtfilters
{
    class RTFilterBase;
    using RTFilterBasePtr = std::shared_ptr<RTFilterBase>;
 
    /**
     * @brief The RTFilterBase class is the base class for all real time capable filters.
     * Real Time capable means here that no heap memory allocation is done and no mutexes are locked
     * during the update() function. Also the runtime must be the same during each call (e.g. no random searches).
     */
    class RTFilterBase
    {
    public:
        RTFilterBase(size_t historySize);
        RTFilterBase(const RTFilterBase& other) = default;
 
        virtual ~RTFilterBase()
        {
        }
 
        virtual void reset();
        virtual double update(IceUtil::Time const& timestamp, double newValue);
        double update(double deltaSec, double newValue);
        virtual double calculate() = 0;
        virtual RTFilterBasePtr clone() const = 0;
        double getCurrentValue() const;
 
    protected:
        boost::circular_buffer<std::pair<IceUtil::Time, double>> dataHistory;
        double currentValue = 0.0;
    };
 
    using RTFilterBasePtr = std::shared_ptr<RTFilterBase>;
 
} // namespace armarx::rtfilters
#endif // RTFILTERBASE_H