apollo::common::MeanFilter类 参考

The MeanFilter class is used to smoothen a series of noisy numbers, such as sensor data or the output of a function that we wish to be smoother. 更多...

#include <mean_filter.h>

apollo::common::MeanFilter 的协作图:

Public 成员函数
	MeanFilter (const std::uint_fast8_t window_size)
	Initializes a MeanFilter with a given window size.
	MeanFilter ()=default
	Default constructor; defers initialization.
	~MeanFilter ()=default
	Default destructor.
double	Update (const double measurement)
	Processes a new measurement in amortized constant time.

详细描述

The MeanFilter class is used to smoothen a series of noisy numbers, such as sensor data or the output of a function that we wish to be smoother.

This is achieved by keeping track of the last k measurements (where k is the window size), and returning the average of all but the minimum and maximum measurements, which are likely to be outliers.

在文件 mean_filter.h 第 45 行定义.

构造及析构函数说明

MeanFilter() [1/2]

apollo::common::MF::MeanFilter ( const std::uint_fast8_t  window_size )

explicit

Initializes a MeanFilter with a given window size.

参数

window_size

The window size of the MeanFilter. Older measurements are discarded.

在文件 mean_filter.cc 第 32 行定义.

                                      : window_size_(window_size) {
  CHECK_GT(window_size_, 0);
  CHECK_LE(window_size_, kMaxWindowSize);
  initialized_ = true;
}

MeanFilter() [2/2]

apollo::common::MeanFilter::MeanFilter ( )

default

Default constructor; defers initialization.

~MeanFilter()

apollo::common::MeanFilter::~MeanFilter ( )

default

Default destructor.

成员函数说明

Update()

double apollo::common::MF::Update

(

const double

measurement

)

Processes a new measurement in amortized constant time.

参数

measurement

The measurement to be processed by the filter.

在文件 mean_filter.cc 第 54 行定义.

                                          {
  ACHECK(initialized_);
  CHECK_LE(values_.size(), window_size_);
  CHECK_LE(min_candidates_.size(), window_size_);
  CHECK_LE(max_candidates_.size(), window_size_);
  ++time_;
  time_ %= static_cast<std::uint_fast8_t>(2 * window_size_);
  if (values_.size() == window_size_) {
    RemoveEarliest();
  }
  Insert(measurement);
  if (values_.size() > 2) {
    return (sum_ - GetMin() - GetMax()) /
           static_cast<double>(values_.size() - 2);
  } else {
    return sum_ / static_cast<double>(values_.size());
  }
}

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该类的文档由以下文件生成:

• modules/common/filters/mean_filter.h
• modules/common/filters/mean_filter.cc