SmoothingFilter.h

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Algoryx Simulation AB.
*/
#ifndef AGXUTIL_SMOOTHINGFILTER_H
#define AGXUTIL_SMOOTHINGFILTER_H
 
#include <agx/agxPhysics_export.h>
#include <agx/Math.h>
#include <agx/Referenced.h>
 
namespace agxUtil
{
  class AGXPHYSICS_EXPORT SmoothingFilter : public agx::Referenced
  {
    public:
      SmoothingFilter() {}
 
      virtual agx::Real update( agx::Real observation, agx::Real s ) const = 0;
 
    protected:
      virtual ~SmoothingFilter() {}
  };
 
  typedef agx::ref_ptr< SmoothingFilter > SmoothingFilterRef;
 
  class AGXPHYSICS_EXPORT VariableSmoothingFactorFilter : public SmoothingFilter
  {
    public:
      VariableSmoothingFactorFilter( agx::Real maximumSmoothingFactor )
        : m_maxSmoothingFactor( maximumSmoothingFactor ) {}
 
      virtual agx::Real update( agx::Real observation, agx::Real s ) const;
 
      agx::Real getMaximumSmoothingFactor() const
      {
        return m_maxSmoothingFactor;
      }
 
      void setMaximumSmoothingFactor( agx::Real maxSmoothingFactor )
      {
        m_maxSmoothingFactor = maxSmoothingFactor;
      }
 
    protected:
      virtual ~VariableSmoothingFactorFilter() {}
 
    protected:
      agx::Real m_maxSmoothingFactor;
  };
 
  typedef agx::ref_ptr< VariableSmoothingFactorFilter > VariableSmoothingFactorFilterRef;
 
}
#endif