Package edu.wpi.first.math.filter

Class MedianFilter

java.lang.Object
edu.wpi.first.math.filter.MedianFilter
public class MedianFilter
extends Object
A class that implements a moving-window median filter. Useful for reducing measurement noise, especially with processes that generate occasional, extreme outliers (such as values from vision processing, LIDAR, or ultrasonic sensors).

  • Constructor Summary

    Constructors 
    Constructor Description
    MedianFilter​(int size)
    Creates a new MedianFilter.

  • Method Summary

    Modifier and Type Method Description
    double calculate​(double next)
    Calculates the moving-window median for the next value of the input stream.
    double lastValue()
    Returns the last value calculated by the MedianFilter.
    void reset()
    Resets the filter, clearing the window of all elements.

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Constructor Details

    • MedianFilter

      public MedianFilter​(int size)
      Creates a new MedianFilter.
      Parameters:
      size - The number of samples in the moving window.

  • Method Details

    • calculate

      public double calculate​(double next)
      Calculates the moving-window median for the next value of the input stream.
      Parameters:
      next - The next input value.
      Returns:
      The median of the moving window, updated to include the next value.

    • lastValue

      public double lastValue()
      Returns the last value calculated by the MedianFilter.
      Returns:
      The last value.

    • reset

      public void reset()
      Resets the filter, clearing the window of all elements.