From 78749c4b1c81e1d15e19257d0e1462f09e29aa26 Mon Sep 17 00:00:00 2001
From: David Wehr <dawehr@iastate.edu>
Date: Sat, 29 Apr 2017 16:59:46 -0500
Subject: [PATCH] Added median approximation to data analysis, used for sonar
 outlier filtering.

---
 controls/DataAnalysisTool/Tool/ApproxMedFilt.m | 12 ++++++++++++
 1 file changed, 12 insertions(+)
 create mode 100644 controls/DataAnalysisTool/Tool/ApproxMedFilt.m

diff --git a/controls/DataAnalysisTool/Tool/ApproxMedFilt.m b/controls/DataAnalysisTool/Tool/ApproxMedFilt.m
new file mode 100644
index 000000000..bbdc4f329
--- /dev/null
+++ b/controls/DataAnalysisTool/Tool/ApproxMedFilt.m
@@ -0,0 +1,12 @@
+function [ y ] = ApproxMedFilt( x, eta)
+%APPROXMEDFILT Summary of this function goes here
+%   Detailed explanation goes here
+mean = x(1);
+med = x(1);
+y = zeros(size(x));
+for i = 1:length(x)
+    mean = mean + (eta * (x(i) - mean));
+    med = med + (eta * sign(x(i) - med));
+    y(i) = med;
+end
+
-- 
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