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e15ca5a414
Linear digital filter class based on code from FRC team 341 Change-Id: I4c5198e36a089e08a6d054bf1bf80392def27e23
45 lines
1.1 KiB
C++
45 lines
1.1 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2015. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <vector>
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#include <cstddef>
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/**
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* This is a simple circular buffer so we don't need to "bucket brigade" copy
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* old values.
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*/
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template <class T>
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class CircularBuffer {
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public:
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CircularBuffer(size_t size);
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void PushFront(T value);
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void PushBack(T value);
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T PopFront();
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T PopBack();
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void Reset();
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T& operator[](size_t index);
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const T& operator[](size_t index) const;
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private:
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std::vector<T> m_data;
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// Index of element at front of buffer
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size_t m_front = 0;
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// Number of elements used in buffer
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size_t m_length = 0;
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size_t ModuloInc(size_t index);
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size_t ModuloDec(size_t index);
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};
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#include "CircularBuffer.inc"
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