outliersDetection.h

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/*
 * Copyright (C) 2006-2018 Istituto Italiano di Tecnologia (IIT)
 * Copyright (C) 2006-2010 RobotCub Consortium
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms
 * of the BSD-3-Clause license. See the accompanying LICENSE file for
 * details.
*/
 
#ifndef __OUTLIERSDETECTION_H__
#define __OUTLIERSDETECTION_H__
 
#include <map>
#include <set>
 
#include <yarp/os/Property.h>
#include <yarp/sig/Vector.h>
 
namespace iCub
{
 
namespace ctrl
{
 
class OutliersDetection
{
public:
    virtual std::set<size_t> detect(const yarp::sig::Vector &data,
                                    const yarp::os::Property &options) = 0;
 
    virtual ~OutliersDetection() { }
};
 
 
class ModifiedThompsonTau : public OutliersDetection
{
protected:
    std::map<size_t,double> tauLUP;
    std::set<size_t> recurIdx;
 
public:
    ModifiedThompsonTau();
 
    std::set<size_t> detect(const yarp::sig::Vector &data,
                            const yarp::os::Property &options);
 
    virtual ~ModifiedThompsonTau() { }
};
 
}
 
}
 
#endif