eeros::control::MedianFilter< N, Tval > Class Template Reference

#include <MedianFilter.hpp>

Inheritance diagram for eeros::control::MedianFilter< N, Tval >:

Collaboration diagram for eeros::control::MedianFilter< N, Tval >:

Public Member Functions
	MedianFilter ()
virtual void	run ()
virtual void	enable ()
virtual void	disable ()
Public Member Functions inherited from eeros::control::Block1i1o< Tval >
	Block1i1o ()
virtual Input< Tval > &	getIn ()
virtual Output< Tval > &	getOut ()
Public Member Functions inherited from eeros::control::Block
virtual void	setName (std::string name)
virtual std::string	getName ()
Public Member Functions inherited from eeros::Runnable
virtual	~Runnable ()

Protected Attributes
Tval	currentValues [N] {}
Tval	currentMedianValue
bool	enabled {true}
Protected Attributes inherited from eeros::control::Block1i1o< Tval >
Input< Tval >	in
Output< Tval >	out

Static Protected Attributes
static constexpr int	medianIndex {static_cast<int>(floor(N/2))}

Friends
template<size_t No, typename ValT >
std::ostream &	operator<< (std::ostream &os, MedianFilter< No, ValT > &filter)

Detailed Description

template<size_t N, typename Tval = double>
class eeros::control::MedianFilter< N, Tval >

A median filter (MedianFilter) block is used to filter an input signal. The output signal value depends on the current and various past input signal values. The median filter algorithm sorts all values. The median value will be set as output signal value if the MedianFilter instance is enabled.

MedianFilter is a class template with one type and one non-type template argument. The type template argument specifies the type which is used for the values when the class template is instantiated. The non-type template argument specifies the number of stored values.

If the MedianFilter is used with matrices (Matrix, Vector), the filter algorithm will consider all values in the matrice and will not separate them. For example a 3-tuple of a Vector3 instance will be kept together during processing in the MedianFilter.
If the sort algorithm can not sort the values, they will be left unchanged.

Template Parameters

N	- number of considered values
Tval	- value type (double - default type)

Since

v0.6

Constructor & Destructor Documentation

template<size_t N, typename Tval = double>

eeros::control::MedianFilter< N, Tval >::MedianFilter ( )

inline

Constructs a MedianFilter instance.

Member Function Documentation

template<size_t N, typename Tval = double>

virtual void eeros::control::MedianFilter< N, Tval >::disable ( )

inlinevirtual

Disables the filter.

If disabled, run() will set the output signal to the input signal.

See also

run()

template<size_t N, typename Tval = double>

virtual void eeros::control::MedianFilter< N, Tval >::enable ( )

inlinevirtual

Enables the filter.

If enabled, run() will set the output signal value to the median value which results from sorting the current and the past values.

See also

run()

template<size_t N, typename Tval = double>

virtual void eeros::control::MedianFilter< N, Tval >::run ( )

inlinevirtual

Runs the filter algorithm.

Performs the calculation of the filtered output signal value.

Sorts the current and various past input signal values. The median value will be set as output signal value if the MedianFilter instance is enabled. Otherwise, the output signal value is set to the actual input signal value.

The timestamp value will not be altered.

See also

enable()

disable()

Implements eeros::Runnable.

Friends And Related Function Documentation

template<size_t N, typename Tval = double>

template<size_t No, typename ValT >

std::ostream& operator<< ( std::ostream &  os, MedianFilter< No, ValT > &  filter  )

friend

Member Data Documentation

template<size_t N, typename Tval = double>

Tval eeros::control::MedianFilter< N, Tval >::currentMedianValue

protected

template<size_t N, typename Tval = double>

Tval eeros::control::MedianFilter< N, Tval >::currentValues[N] {}

protected

template<size_t N, typename Tval = double>

bool eeros::control::MedianFilter< N, Tval >::enabled {true}

protected

template<size_t N, typename Tval = double>

constexpr int eeros::control::MedianFilter< N, Tval >::medianIndex {static_cast<int>(floor(N/2))}

staticprotected

---

The documentation for this class was generated from the following file:

• /home/markus/github/eeros-project/eeros-framework/includes/eeros/control/MedianFilter.hpp