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/*
* Copyright (C) 2016 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef IGNITION_COMMON_MOVINGWINDOWFILTER_HH_
#define IGNITION_COMMON_MOVINGWINDOWFILTER_HH_
#include <memory>
#include <vector>
namespace ignition
{
namespace common
{
/// \cond
/// \brief Private data members for MovingWindowFilter class.
/// This must be in the header due to templatization.
template< typename T>
class MovingWindowFilterPrivate
{
// \brief Constructor
public: MovingWindowFilterPrivate();
/// \brief For moving window smoothed value
public: unsigned int valWindowSize = 4;
/// \brief buffer history of raw values
public: std::vector<T> valHistory;
/// \brief iterator pointing to current value in buffer
public: typename std::vector<T>::iterator valIter;
/// \brief keep track of running sum
public: T sum;
/// \brief keep track of number of elements
public: unsigned int samples = 0;
};
/// \endcond
//////////////////////////////////////////////////
template<typename T>
MovingWindowFilterPrivate<T>::MovingWindowFilterPrivate()
{
/// \TODO FIXME hardcoded initial value for now
this->valHistory.resize(this->valWindowSize);
this->valIter = this->valHistory.begin();
this->sum = T();
}
/// \brief Base class for MovingWindowFilter
template< typename T>
class MovingWindowFilter
{
/// \brief Constructor
public: MovingWindowFilter();
/// \brief Destructor
public: virtual ~MovingWindowFilter();
/// \brief Update value of filter
/// \param[in] _val new raw value
public: void Update(T _val);
/// \brief Set window size
/// \param[in] _n new desired window size
public: void SetWindowSize(unsigned int _n);
/// \brief Get the window size.
/// \return The size of the moving window.
public: unsigned int WindowSize() const;
/// \brief Get whether the window has been filled.
/// \return True if the window has been filled.
public: bool WindowFilled() const;
/// \brief Get filtered result
/// \return Latest filtered value
public: T Value();
/// \brief Allow subclasses to initialize their own data pointer.
/// \param[in] _d Reference to data pointer.
protected: explicit MovingWindowFilter<T>(
MovingWindowFilterPrivate<T> &_d);
/// \brief Data pointer.
protected: std::unique_ptr<MovingWindowFilterPrivate<T>> dataPtr;
};
//////////////////////////////////////////////////
template<typename T>
MovingWindowFilter<T>::MovingWindowFilter()
: dataPtr(new MovingWindowFilterPrivate<T>())
{
}
//////////////////////////////////////////////////
template<typename T>
MovingWindowFilter<T>::~MovingWindowFilter()
{
this->dataPtr->valHistory.clear();
}
//////////////////////////////////////////////////
template<typename T>
void MovingWindowFilter<T>::Update(T _val)
{
// update sum and sample size with incoming _val
// keep running sum
this->dataPtr->sum += _val;
// shift pointer, wrap around if end has been reached.
++this->dataPtr->valIter;
if (this->dataPtr->valIter == this->dataPtr->valHistory.end())
{
// reset iterator to beginning of queue
this->dataPtr->valIter = this->dataPtr->valHistory.begin();
}
// increment sample size
++this->dataPtr->samples;
if (this->dataPtr->samples > this->dataPtr->valWindowSize)
{
// subtract old value if buffer already filled
this->dataPtr->sum -= (*this->dataPtr->valIter);
// put new value into queue
(*this->dataPtr->valIter) = _val;
// reduce sample size
--this->dataPtr->samples;
}
else
{
// put new value into queue
(*this->dataPtr->valIter) = _val;
}
}
//////////////////////////////////////////////////
template<typename T>
void MovingWindowFilter<T>::SetWindowSize(unsigned int _n)
{
this->dataPtr->valWindowSize = _n;
this->dataPtr->valHistory.clear();
this->dataPtr->valHistory.resize(this->dataPtr->valWindowSize);
this->dataPtr->valIter = this->dataPtr->valHistory.begin();
this->dataPtr->sum = T();
this->dataPtr->samples = 0;
}
//////////////////////////////////////////////////
template<typename T>
unsigned int MovingWindowFilter<T>::WindowSize() const
{
return this->dataPtr->valWindowSize;
}
//////////////////////////////////////////////////
template<typename T>
bool MovingWindowFilter<T>::WindowFilled() const
{
return this->dataPtr->samples == this->dataPtr->valWindowSize;
}
//////////////////////////////////////////////////
template<typename T>
T MovingWindowFilter<T>::Value()
{
return this->dataPtr->sum / static_cast<double>(this->dataPtr->samples);
}
}
}
#endif
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