00001
00002 /***************************************************************************
00003  *  cascade.h - Laser data filter cascade
00004  *
00005  *  Created: Thu Jun 25 01:04:59 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_CASCADE_H_
00024 #define __PLUGINS_LASER_FILTERS_CASCADE_H_
00025 
00026 #include "../filter.h"
00027
00028 #include <list>
00029
00030 class LaserDataFilterCascade : public LaserDataFilter
00031 {
00032  public:
00033   LaserDataFilterCascade(bool own_filters = true);
00034   ~LaserDataFilterCascade();
00035
00036   void add_filter(LaserDataFilter *filter);
00037   void remove_filter(LaserDataFilter *filter);
00038   void delete_filters();
00039 
00040   /** Check if filters have been added to the cascade. */
00041   inline bool has_filters() const { return ! __filters.empty(); }
00042
00043   void filter(const float *data, unsigned int data_size);
00044
00045  private:
00046   bool                                   __own_filters;
00047   std::list<LaserDataFilter *>           __filters;
00048   std::list<LaserDataFilter *>::iterator __fit;
00049 };
00050
00051 #endif