## MedianFilter

The MedianFilter calculates the output for N one-dimensional digital filters. Where the input, x, is a (N x 1) vector of inputs and the output, y, is a (N x 1) vector of outputs. The filter is described by number of observations, obs.

- y[n] = median(x[n] + x[n-1] + ... + x[n-obs])

### ROS API

#### Parameters

`~name`(

`string`, default: Required)

- Name of the filter

`~type`(

`)`

`(`

`string`, default: Required)

- The filter's typename as declared in it's pluginlib registration:
`MultiChannelMedianFilterDouble`or`MedianFilterDouble`

`~params/number_of_observations`(

`int`, default: Required)

- The order of the filter

**Example Configuration:**

FifthOrder: name: my_filter type: MultiChannelMedianFilterDouble params: number_of_observations: 5