25 #include <core/exception.h>
26 #include <utils/math/angle.h>
27 #include <utils/time/time.h>
45 unsigned int in_data_size,
46 std::vector<LaserDataFilter::Buffer *> &in)
60 const unsigned int vecsize = std::min(
in.size(),
out.size());
61 for (
unsigned int a = 0; a < vecsize; ++a) {
62 out[a]->frame =
in[a]->frame;
63 out[a]->timestamp->set_time(
in[a]->timestamp);
64 float *inbuf =
in[a]->values;
65 float *outbuf =
out[a]->values;
68 outbuf[0] = (inbuf[719] + inbuf[0]) / 2.0;
69 for (
unsigned int i = 1; i < 360; ++i) {
70 outbuf[i] = (inbuf[i * 2 - 1] + inbuf[i * 2 + 1]) / 2.0;
73 for (
unsigned int i = 0; i < 360; ++i) {
74 outbuf[i] = inbuf[i * 2];
Laser720to360DataFilter(const std::string &filter_name, bool average, unsigned int in_data_size, std::vector< LaserDataFilter::Buffer * > &in)
Constructor.
void filter()
Filter the incoming data.
unsigned int in_data_size
Number of entries in input arrays.
std::vector< Buffer * > out
Vector of output arrays.
std::vector< Buffer * > in
Vector of input arrays.
virtual void set_out_data_size(unsigned int data_size)
Resize output arrays.
Base class for exceptions in Fawkes.