spline_smoother: linear_spline_velocity

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00034 
00037 #ifndef LINEAR_SPLINE_VELOCITY_SCALER_H_
00038 #define LINEAR_SPLINE_VELOCITY_SCALER_H_
00039 
00040 #include <spline_smoother/spline_smoother.h>
00041 #include <spline_smoother/linear_trajectory.h>
00042 namespace spline_smoother
00043 {
00044 
00048 template <typename T>
00049 class LinearSplineVelocityScaler: public SplineSmoother<T>
00050 {
00051 public:
00052   LinearSplineVelocityScaler();
00053   virtual ~LinearSplineVelocityScaler();
00054 
00055   virtual bool smooth(const T& trajectory_in, 
00056                       T& trajectory_out) const;
00057 };
00058 
00059 template <typename T>
00060 LinearSplineVelocityScaler<T>::LinearSplineVelocityScaler()
00061 {
00062 }
00063 
00064 template <typename T>
00065 LinearSplineVelocityScaler<T>::~LinearSplineVelocityScaler()
00066 {
00067 }
00068 
00069 template <typename T>
00070 bool LinearSplineVelocityScaler<T>::smooth(const T& trajectory_in, 
00071                                         T& trajectory_out) const
00072 {
00073   spline_smoother::LinearTrajectory traj;
00074   spline_smoother::SplineTrajectory spline;
00075   bool success = traj.parameterize(trajectory_in.trajectory,trajectory_in.limits,spline);
00076   if(!success)
00077     return false;
00078 
00079   trajectory_out = trajectory_in;
00080   if (!checkTrajectoryConsistency(trajectory_out))
00081     return false;
00082 
00083   std::vector<double> times;
00084   times.resize(spline.segments.size()+1);
00085   times[0] = 0.0;
00086   for(int i=0; i< (int) spline.segments.size(); i++)
00087     times[i+1] = times[i] + spline.segments[i].duration.toSec(); 
00088 
00089   trajectory_msgs::JointTrajectory joint_traj;
00090   spline_smoother::sampleSplineTrajectory(spline,times,joint_traj);
00091   trajectory_out.trajectory = joint_traj;
00092   trajectory_out.trajectory.joint_names = trajectory_in.trajectory.joint_names;
00093 
00094   return success;
00095 }
00096 
00097 }
00098 
00099 #endif /* LINEAR_SPLINE_SMOOTHER_H_ */
linear_spline_velocity_scaler.h
