.. _program_listing_file_include_slbf.hpp:

Program Listing for File slbf.hpp
=================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_slbf.hpp>` (``include/slbf.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021 ROBOTIS CO., LTD.
   //
   // 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.
   //
   // Author: LD Robot, Will Son
   
   #ifndef SLBF_HPP_
   #define SLBF_HPP_
   
   #include <stdint.h>
   #include <vector>
   #include "../include/pointdata.hpp"
   
   class Slbf
   {
   private:
     const int CONFIDENCE_LOW = 92;
   
     // Default scanning frequency, which can be changed according to radar protocol
     const int SCAN_FRE = 2300;
     double curr_speed;
   
     // whether strict filtering is enabled within 300 mm,
     // the effective value may be lost,
     // and the time sequence of recharging needs to be disabled
     bool enable_strict_policy;
     Slbf() = delete;
     Slbf(const Slbf &) = delete;
     Slbf & operator=(const Slbf &) = delete;
   
   public:
     explicit Slbf(int speed, bool strict_policy = true);
     Points2D NearFilter(const Points2D & tmp) const;
     void EnableStrictPolicy(bool enable);
     ~Slbf();
   };
   
   #endif  // SLBF_HPP_