PosNoiseRemover.h

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#include <vrecko/Ability.h>
#include <vrecko/IOPins.h>
#include <helpers/DynamicArray.h>

namespace Filter {

    class PosNoiseRemover: public vrecko::Ability {
    public:
        PosNoiseRemover();
        ~PosNoiseRemover() {};

        void preInitialize(void);
        void processEvent(const std::string &input_name, void *value);

        bool loadXMLParameters(XERCES_CPP_NAMESPACE_QUALIFIER DOMNode *pParametersNode);
        XERCES_CPP_NAMESPACE_QUALIFIER DOMNode *saveXMLParameters(XERCES_CPP_NAMESPACE_QUALIFIER DOMDocument *);
    
    protected:

//      std::string out3String;

        struct SAMPLE {
            osg::Vec3 vec;
            osg::Timer_t time;
        };

        DynamicArray<SAMPLE> pastSamples;

        bool bOn; // is filtering on or off?

        osg::Vec3 lastInput, lastResult;

        int iCorrectedSamplesCounter;
            // Number of corrected samples IN ROW

        float fTolerance;
            // Maximum distance between two samples. The value is time-normalized,
            // so it stores the distance per second.
        int iMaxPastSamples;
            // Currently, only the values 1 or 2 are supported.
            // 1: If the new sample is too far from the last one, the system will always output the last value
            // 2: If too far, the system will output value according to the [bExtrapolateCorrectValue] variable
        int iMaxCorrectedSamplesInRow;
            // Maximum of corrected samples IN ROW. If exceeded, we will clear the internal data
            // and expect that samples are correct (and there was a mistake to correct them)
        bool bCompareExtrapolatedValue;
            // True: Will compare the new value with the extrapolated one from the last two samples.
        bool bExtrapolateCorrectValue;
            // True: If error, extrapolate the correct value.
            // False: If error, use the last sample.


        DECLARE_INPUT(In3, vrecko::MessageVec3);
        DECLARE_OUTPUT(Out3, vrecko::MessageVec3);
    };

}