MedianFilter.cpp
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1 /*
2  * This file is part of ArmarX.
3  *
4  * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
5  *
6  * ArmarX is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License version 2 as
8  * published by the Free Software Foundation.
9  *
10  * ArmarX is distributed in the hope that it will be useful, but
11  * WITHOUT ANY WARRANTY; without even the implied warranty of
12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13  * GNU General Public License for more details.
14  *
15  * You should have received a copy of the GNU General Public License
16  * along with this program. If not, see <http://www.gnu.org/licenses/>.
17  *
18  * @package ArmarX
19  * @author Mirko Waechter( mirko.waechter at kit dot edu)
20  * @date 2016
21  * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
22  * GNU General Public License
23  */
24 #include "MedianFilter.h"
25 
26 namespace armarx
27 {
29  {
30  this->windowFilterSize = windowSize;
31  }
32 
34  armarx::filters::MedianFilter::calculate(const Ice::Current&) const
35  {
36  std::unique_lock lock(historyMutex);
37  if (dataHistory.size() == 0)
38  {
39  return nullptr;
40  }
41 
42  VariantTypeId type = dataHistory.begin()->second->getType();
43 
44  if (type == VariantType::Float)
45  {
46  auto values = SortVariants<float>(dataHistory);
47  return new Variant(values.at(values.size() / 2));
48  }
49  else if (type == VariantType::Double)
50  {
51  auto values = SortVariants<double>(dataHistory);
52  return new Variant(values.at(values.size() / 2));
53  }
54  else if (type == VariantType::Int)
55  {
56  auto values = SortVariants<int>(dataHistory);
57  return new Variant(values.at(values.size() / 2));
58  }
59  else if (type == VariantType::Long)
60  {
61  auto values = SortVariants<long>(dataHistory);
62  return new Variant(values.at(values.size() / 2));
63  }
64 
66  }
67 
68  armarx::ParameterTypeList
70  {
71  ParameterTypeList result;
72  result.push_back(VariantType::Int);
73  result.push_back(VariantType::Long);
74  result.push_back(VariantType::Float);
75  result.push_back(VariantType::Double);
76  return result;
77  }
78 } // namespace armarx
armarx::Variant
The Variant class is described here: Variants.
Definition: Variant.h:223
armarx::VariantType::Float
const VariantTypeId Float
Definition: Variant.h:919
armarx::filters::MedianFilter::MedianFilter
MedianFilter(int windowSize=11)
Definition: MedianFilter.cpp:28
ProsthesisInterface.values
values
Definition: ProsthesisInterface.py:190
IceInternal::Handle<::armarx::VariantBase >
armarx::VariantType::Double
const VariantTypeId Double
Definition: Variant.h:920
armarx::filters::MedianFilter::getSupportedTypes
ParameterTypeList getSupportedTypes(const Ice::Current &c=Ice::emptyCurrent) const override
This filter supports: Int, Long, Float, Double.
Definition: MedianFilter.cpp:69
armarx::VariantType::Long
const VariantTypeId Long
Definition: Variant.h:918
armarx::exceptions::user::UnsupportedTypeException
Definition: InvalidTypeException.h:76
armarx::VariantTypeId
Ice::Int VariantTypeId
Definition: Variant.h:43
MedianFilter.h
armarx::VariantType::Int
const VariantTypeId Int
Definition: Variant.h:917
armarx::filters::MedianFilter::calculate
VariantBasePtr calculate(const Ice::Current &c=Ice::emptyCurrent) const override
Definition: MedianFilter.cpp:34
armarx
This file offers overloads of toIce() and fromIce() functions for STL container types.
Definition: ArmarXTimeserver.cpp:27