vpStatisticalTestAbstract.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 */

 
#ifndef VP_STATISTICAL_TEST_ABSTRACT_H
#define VP_STATISTICAL_TEST_ABSTRACT_H
 
#include <algorithm>
#include <cmath>
#include <iostream>
#include <string>
 
#include <visp3/core/vpConfig.h>
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpStatisticalTestAbstract
{
public:
  typedef enum vpMeanDriftType
  {
    MEAN_DRIFT_NONE = 0, 
    MEAN_DRIFT_DOWNWARD = 1, 
    MEAN_DRIFT_UPWARD = 2, 
    MEAN_DRIFT_BOTH = 3, 
    MEAN_DRIFT_COUNT = 4,
    MEAN_DRIFT_UNKNOWN = MEAN_DRIFT_COUNT
  } vpMeanDriftType;

  static std::string vpMeanDriftTypeToString(const vpMeanDriftType &type);

  static vpMeanDriftType vpMeanDriftTypeFromString(const std::string &name);

  static std::string getAvailableMeanDriftType(const std::string &prefix = "<", const std::string &sep = " , ",
                                               const std::string &suffix = ">");

  static void print(const vpMeanDriftType &type);
 
protected:
  bool m_areStatisticsComputed; 
  float m_count; 
  float m_limitDown; 
  float m_limitUp; 
  float m_mean; 
  unsigned int m_nbSamplesForStatistics; 
  float *m_s; 
  float m_stdev; 
  float m_stdevmin; 
  float m_sumForMean; 

  virtual vpMeanDriftType detectDownwardMeanDrift() = 0;

  virtual vpMeanDriftType detectUpwardMeanDrift() = 0;

  virtual bool updateStatistics(const float &signal);

  virtual void updateTestSignals(const float &signal) = 0;
public:
  vpStatisticalTestAbstract();

  vpStatisticalTestAbstract(const vpStatisticalTestAbstract &other);

  virtual ~vpStatisticalTestAbstract();

  inline void getLimits(float &limitDown, float &limitUp) const
  {
    limitDown = m_limitDown;
    limitUp = m_limitUp;
  }

  inline float getMean() const
  {
    return m_mean;
  }

  inline float getStdev() const
  {
    return m_stdev;
  }

  void init();

  vpStatisticalTestAbstract &operator=(const vpStatisticalTestAbstract &other);

  void setMinStdev(const float &stdevmin)
  {
    m_stdevmin = stdevmin;
  }

  void setNbSamplesForStat(const unsigned int &nbSamples);

  vpMeanDriftType testDownUpwardMeanDrift(const float &signal);

  vpMeanDriftType testDownwardMeanDrift(const float &signal);

  vpMeanDriftType testUpwardMeanDrift(const float &signal);
};
END_VISP_NAMESPACE
#endif