TSlidingWindow.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#ifndef TSLIDINGWINDOW_H
#define TSLIDINGWINDOW_H
 
#include <mrpt/utils/CLoadableOptions.h>
 
#include <algorithm>  // std::transform
#include <cmath>  // sqrt
#include <functional>  // std::bind2nd
#include <numeric>  // std::accumulate
#include <string>
#include <vector>
 
namespace mrpt
{
namespace graphslam
{
/**\brief Class to monitor the evolution of a statistical quantity.
 *
 * ## Description
 *
 * Keeps track of the last N incoming measurements of the quantity at hand and
 * upon request returns statistical properties of these measurements (mean,
 * median, etc.)
 *
 * Class also contains methods for evaluating incoming measurements (whether to
 * accept or reject those)
 *
 * ### .ini Configuration Parameters </b>
 *
 * \htmlinclude graphslam-engine_config_params_preamble.txt
 *
 * - \b sliding_win_size
 *   + \a Default value : 10
 *   + \a Required      : FALSE
 *   + \a Description   : How many of the latest measurements to take into
 *   account when computing the relevant statistics
 *
 * \ingroup mrpt_graphslam_grp
 */
struct TSlidingWindow : public mrpt::utils::CLoadableOptions
{
   public:
        TSlidingWindow(std::string name = "window");
        ~TSlidingWindow();
        /**\brief Return the current median value.  */
        double getMedian();
        /**\brief Return the current mean value.  */
        double getMean();
        /**\brief Return the Standard deviation of the current measurement vector*/
        double getStdDev();
        /**\brief Determine whether the incoming measurement is inside the
         * [-3sigma, +3sigma] boundaries from the current mean value.
         *
         * \return True if it's inside the uncertainty boundaries
         */
        bool evaluateMeasurementInGaussian(double measurement);
        /**\brief Determine whether the incoming measurement is over the current
         * mean value.
         *
         * \return True if it's above the mean
         */
        bool evaluateMeasurementAbove(double value);
        /**\brief Determine whether the incoming measurement is *less or equal* to
         * the current mean value.
         *
         * \return True if it's <= to the mean
         */
        bool evaluateMeasurementBelow(double value);
        /**\brief Update the sliding window by appending a new measurement */
        void addNewMeasurement(double measurement);
        /** Resize the window.
         *
         * \note Method affects the underlying vector only if the new_size
         * specified has already been reached
         */
        void resizeWindow(size_t new_size);
        void loadFromConfigFile(
                const mrpt::utils::CConfigFileBase& source, const std::string& section);
        // TODO - make it use the boundaries
        void dumpToTextStream(mrpt::utils::CStream& out) const;
 
        /**\brief Return the size of the window
         */
        size_t getWindowSize() const;
        /**\brief Check if the window has reached its limit. This limit is set by
         * the user via the resizeWindow method.
         *
         * \sa resizeWindow
         */
        bool windowIsFull() const;
 
   private:
        size_t m_win_size;
        std::vector<double> m_measurements_vec;
 
        /**\brief Name of the TSlidingWindow Instance at hand */
        std::string m_name;
 
        double m_mean_cached; /**< Cached mean value */
        double m_median_cached; /**< Cached median value */
        double m_std_dev_cached; /**< Cached version of the standard deviation */
        bool m_mean_updated; /**< Is the mean up-to-date? */
        bool m_median_updated; /**< Is the median up-to-date? */
        bool m_std_dev_updated; /**< Is the standard deviation up-to-date? */
 
        /**\brief flag is raised the first time that
         * TSlidingWindow::addNewMeasurement is
         * called
         */
        bool m_is_initialized;
};
}
}  // end of namespaces
#endif /* end of include guard: TSLIDINGWINDOW_H */