Use HIDE_SYMBOLS_BY_DEFAULT, fix MovingWindowFilter

CMakeLists.txt

@@ -128,6 +128,7 @@ set(FAKE_INSTALL_PREFIX "${CMAKE_BINARY_DIR}/fake/install")
 # Configure the build
 #============================================================================
 gz_configure_build(QUIT_IF_BUILD_ERRORS
+  HIDE_SYMBOLS_BY_DEFAULT
   COMPONENTS eigen3)
 
 

include/gz/math/MovingWindowFilter.hh

@@ -37,7 +37,7 @@ namespace gz
     ///
     /// The default window size is 4.
     template< typename T>
-    class GZ_MATH_VISIBLE MovingWindowFilter
+    class MovingWindowFilter
     {
       /// \brief Constructor
       public: MovingWindowFilter(unsigned int _windowSize = 4);
@@ -90,6 +90,119 @@ namespace gz
     using MovingWindowFilterVector3f = MovingWindowFilter<Vector3f>;
     using MovingWindowFilterVector3d = MovingWindowFilter<Vector3d>;
   }
+
+  //////////////////////////////////////////////////
+  template<typename T>
+  MovingWindowFilter<T>::MovingWindowFilter(unsigned int _windowSize)
+  {
+    this->SetWindowSize(_windowSize);
+  }
+
+  //////////////////////////////////////////////////
+  template<typename T>
+  void MovingWindowFilter<T>::Update(const T _val)
+  {
+    // update sum and sample size with incoming _val
+
+    // keep running sum
+    this->sum += _val;
+
+    // shift pointer, wrap around if end has been reached.
+    ++this->valIter;
+    if (this->valIter == this->valHistory.end())
+    {
+      // reset iterator to beginning of queue
+      this->valIter = this->valHistory.begin();
+    }
+
+    // increment sample size
+    ++this->samples;
+
+    if (this->samples > this->valWindowSize)
+    {
+      // subtract old value if buffer already filled
+      this->sum -= (*this->valIter);
+      // put new value into queue
+      (*this->valIter) = _val;
+      // reduce sample size
+      --this->samples;
+    }
+    else
+    {
+      // put new value into queue
+      (*this->valIter) = _val;
+    }
+  }
+
+  //////////////////////////////////////////////////
+  template<typename T>
+  void MovingWindowFilter<T>::SetWindowSize(const unsigned int _n)
+  {
+    this->valWindowSize = _n;
+    this->valHistory = std::vector<T>(_n, T());
+    this->valIter = this->valHistory.begin();
+    this->sum = T();
+    this->samples = 0;
+  }
+
+  //////////////////////////////////////////////////
+  template<typename T>
+  unsigned int MovingWindowFilter<T>::WindowSize() const
+  {
+    return this->valWindowSize;
+  }
+
+  //////////////////////////////////////////////////
+  template<typename T>
+  bool MovingWindowFilter<T>::WindowFilled() const
+  {
+    return this->samples == this->valWindowSize;
+  }
+
+  //////////////////////////////////////////////////
+  template<>
+  inline gz::math::Vector3i
+  MovingWindowFilter<gz::math::Vector3i>::Value() const
+  {
+    auto value = this->sum / this->samples;
+    return value;
+  }
+
+  //////////////////////////////////////////////////
+  template<>
+  inline gz::math::Vector3f
+  MovingWindowFilter<gz::math::Vector3f>::Value() const
+  {
+    gz::math::Vector3f divisor;
+    divisor = static_cast<float>(this->samples);
+    auto value = this->sum / divisor;
+    return value;
+  }
+
+  //////////////////////////////////////////////////
+  template<>
+  inline gz::math::Vector3d
+  MovingWindowFilter<gz::math::Vector3d>::Value() const
+  {
+    auto value = this->sum / this->samples;
+    return value;
+  }
+
+  //////////////////////////////////////////////////
+  template<typename T>
+  T MovingWindowFilter<T>::Value() const
+  {
+    if (std::is_integral_v<T>)
+    {
+      auto value = this->sum / this->samples;
+      return T(value);
+    }
+    else
+    {
+      auto value = this->sum / static_cast<double>(this->samples);
+      return T(value);
+    }
+  }
   }  // namespace math
 }  // namespace gz
 #endif