deadspots.h

00001 
00002 /***************************************************************************
00003  *  deadspots.h - Laser data dead spots filter
00004  *
00005  *  Created: Wed Jun 24 22:39:19 2009
00006  *  Copyright  2006-2009  Tim Niemueller [www.niemueller.de]
00007  *
00008  ****************************************************************************/
00009 
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version.
00014  *
00015  *  This program is distributed in the hope that it will be useful,
00016  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00018  *  GNU Library General Public License for more details.
00019  *
00020  *  Read the full text in the LICENSE.GPL file in the doc directory.
00021  */
00022 
00023 #ifndef __PLUGINS_LASER_FILTERS_DEADSPOTS_H_
00024 #define __PLUGINS_LASER_FILTERS_DEADSPOTS_H_
00025 
00026 #include "../filter.h"
00027 
00028 #include <vector>
00029 #include <utility>
00030 #include <string>
00031 
00032 namespace fawkes {
00033   class Configuration;
00034   class Logger;
00035 }
00036 
00037 class LaserDeadSpotsDataFilter : public LaserDataFilter
00038 {
00039  public:
00040   LaserDeadSpotsDataFilter(fawkes::Configuration *config, fawkes::Logger *logger,
00041                            std::string prefix);
00042   ~LaserDeadSpotsDataFilter();
00043 
00044   void filter(const float *data, unsigned int data_size);
00045 
00046  private:
00047   fawkes::Logger *__logger;
00048 
00049   unsigned int  __num_spots;
00050   unsigned int *__dead_spots;
00051   std::vector<std::pair<float, float> > __cfg_dead_spots;
00052 };
00053 
00054 #endif

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