frc::MedianFilter< T > Class Template Reference

A class that implements a moving-window median filter. More...

#include <frc/filter/MedianFilter.h>

Public Member Functions
	MedianFilter (size_t size)
	Creates a new MedianFilter. More...
T	Calculate (T next)
	Calculates the moving-window median for the next value of the input stream. More...
T	LastValue () const
	Returns the last value calculated by the MedianFilter. More...
void	Reset ()
	Resets the filter, clearing the window of all elements. More...

Detailed Description

template<class T>
class frc::MedianFilter< T >

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 & Destructor Documentation

MedianFilter()

template<class T >

frc::MedianFilter< T >::MedianFilter ( size_t  size )

inlineexplicit

Creates a new MedianFilter.

Parameters

size	The number of samples in the moving window.

Member Function Documentation

Calculate()

template<class T >

T frc::MedianFilter< T >::Calculate ( T  next )

inline

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()

template<class T >

T frc::MedianFilter< T >::LastValue ( ) const

inline

Returns the last value calculated by the MedianFilter.

Returns

The last value.

Reset()

template<class T >

void frc::MedianFilter< T >::Reset ( )

inline

Resets the filter, clearing the window of all elements.

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

• frc/filter/MedianFilter.h