filter_factory.hpp

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// Copyright 2020 the Autoware Foundation
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Co-developed by Tier IV, Inc. and Apex.AI, Inc.
#ifndef SIGNAL_FILTERS__FILTER_FACTORY_HPP_
#define SIGNAL_FILTERS__FILTER_FACTORY_HPP_
 
#include <signal_filters/visibility_control.hpp>
#include <signal_filters/signal_filter.hpp>
#include <signal_filters/low_pass_filter.hpp>
 
#include <algorithm>
#include <memory>
#include <stdexcept>
#include <string>
 
namespace autoware
{
namespace common
{
namespace signal_filters
{
 
enum class FilterType : int32_t
{
  None = 0,
  LowPassFilter
};  // enum class FilterType
 
class SIGNAL_FILTERS_PUBLIC FilterFactory
{
public:
  template<typename T, typename ClockT = DummyClock>
  static std::unique_ptr<FilterBase<T, ClockT>> create(const std::string & type, T cutoff_frequency)
  {
    FilterType type_enum = FilterType::LowPassFilter;
    auto type_clean = type;
    (void)std::transform(
      type_clean.begin(), type_clean.end(), type_clean.begin(),
      [](auto c) {return std::tolower(c);});
    if ("low_pass_filter" == type_clean) {
      type_enum = FilterType::LowPassFilter;
    } else if (type_clean.empty() || ("none" == type_clean)) {
      type_enum = FilterType::None;
    } else {
      std::string err{"Unknown filter type: "};
      err += type;
      throw std::domain_error{err};
    }
    return create<T, ClockT>(type_enum, cutoff_frequency);
  }
 
  template<typename T, typename ClockT = DummyClock>
  static std::unique_ptr<FilterBase<T, ClockT>> create(FilterType type, T cutoff_frequency)
  {
    switch (type) {
      case FilterType::None:
        return nullptr;
      case FilterType::LowPassFilter:
        return std::make_unique<LowPassFilter<T, ClockT>>(cutoff_frequency);
      default:
        throw std::domain_error{"Unknown filter type"};
    }
  }
};  // class FilterFactory
 
}  // namespace signal_filters
}  // namespace common
}  // namespace autoware
 
#endif  // SIGNAL_FILTERS__FILTER_FACTORY_HPP_