spline_smoother: spline_smoothers.cpp Source File

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00034 
00036 #include <motion_planning_msgs/FilterJointTrajectory.h>
00037 #include <motion_planning_msgs/FilterJointTrajectoryWithConstraints.h>
00038 #include <spline_smoother/spline_smoother.h>
00039 #include <spline_smoother/linear_spline_velocity_scaler.h>
00040 #include <spline_smoother/clamped_cubic_spline_smoother.h>
00041 #include <spline_smoother/fritsch_butland_spline_smoother.h>
00042 #include <spline_smoother/numerical_differentiation_spline_smoother.h>
00043 #include <spline_smoother/cubic_spline_velocity_scaler.h>
00044 #include <spline_smoother/cubic_parameterized_spline_velocity_scaler.h>
00045 
00046 //  PLUGINLIB_REGISTER_CLASS(class_name, class_type, filters::FilterBase<T>)
00047 
00048 PLUGINLIB_REGISTER_CLASS(LinearSplineVelocityScalerFilterJointTrajectory, spline_smoother::LinearSplineVelocityScaler<motion_planning_msgs::FilterJointTrajectory::Request>, filters::FilterBase<motion_planning_msgs::FilterJointTrajectory::Request>)
00049 PLUGINLIB_REGISTER_CLASS(ClampedCubicSplineSmootherFilterJointTrajectory, spline_smoother::ClampedCubicSplineSmoother<motion_planning_msgs::FilterJointTrajectory::Request>, filters::FilterBase<motion_planning_msgs::FilterJointTrajectory::Request>)
00050 PLUGINLIB_REGISTER_CLASS(FritschButlandSplineSmootherFilterJointTrajectory, spline_smoother::FritschButlandSplineSmoother<motion_planning_msgs::FilterJointTrajectory::Request>, filters::FilterBase<motion_planning_msgs::FilterJointTrajectory::Request>)
00051 PLUGINLIB_REGISTER_CLASS(NumericalDifferentiationSplineSmootherFilterJointTrajectory, spline_smoother::NumericalDifferentiationSplineSmoother<motion_planning_msgs::FilterJointTrajectory::Request>, filters::FilterBase<motion_planning_msgs::FilterJointTrajectory::Request>)
00052 PLUGINLIB_REGISTER_CLASS(CubicSplineVelocityScalerFilterJointTrajectory, spline_smoother::CubicSplineVelocityScaler<motion_planning_msgs::FilterJointTrajectory::Request>, filters::FilterBase<motion_planning_msgs::FilterJointTrajectory::Request>)
00053 PLUGINLIB_REGISTER_CLASS(CubicParameterizedSplineVelocityScalerFilterJointTrajectory, spline_smoother::CubicParameterizedSplineVelocityScaler<motion_planning_msgs::FilterJointTrajectory::Request>, filters::FilterBase<motion_planning_msgs::FilterJointTrajectory::Request>)
00054 
00055 
00056 PLUGINLIB_REGISTER_CLASS(LinearSplineVelocityScalerJointTrajectoryWithLimits, spline_smoother::LinearSplineVelocityScaler<motion_planning_msgs::JointTrajectoryWithLimits>, filters::FilterBase<motion_planning_msgs::JointTrajectoryWithLimits>)
00057 PLUGINLIB_REGISTER_CLASS(ClampedCubicSplineSmootherJointTrajectoryWithLimits, spline_smoother::ClampedCubicSplineSmoother<motion_planning_msgs::JointTrajectoryWithLimits>, filters::FilterBase<motion_planning_msgs::JointTrajectoryWithLimits>)
00058 PLUGINLIB_REGISTER_CLASS(FritschButlandSplineSmootherJointTrajectoryWithLimits, spline_smoother::FritschButlandSplineSmoother<motion_planning_msgs::JointTrajectoryWithLimits>, filters::FilterBase<motion_planning_msgs::JointTrajectoryWithLimits>)
00059 PLUGINLIB_REGISTER_CLASS(NumericalDifferentiationSplineSmootherJointTrajectoryWithLimits, spline_smoother::NumericalDifferentiationSplineSmoother<motion_planning_msgs::JointTrajectoryWithLimits>, filters::FilterBase<motion_planning_msgs::JointTrajectoryWithLimits>)
00060 PLUGINLIB_REGISTER_CLASS(CubicSplineVelocityScalerJointTrajectoryWithLimits, spline_smoother::CubicSplineVelocityScaler<motion_planning_msgs::JointTrajectoryWithLimits>, filters::FilterBase<motion_planning_msgs::JointTrajectoryWithLimits>)
00061 PLUGINLIB_REGISTER_CLASS(CubicParameterizedSplineVelocityScalerJointTrajectoryWithLimits, spline_smoother::CubicParameterizedSplineVelocityScaler<motion_planning_msgs::JointTrajectoryWithLimits>, filters::FilterBase<motion_planning_msgs::JointTrajectoryWithLimits>)
00062 
00063 
00064 PLUGINLIB_REGISTER_CLASS(LinearSplineVelocityScalerFilterJointTrajectoryWithConstraints, spline_smoother::LinearSplineVelocityScaler<motion_planning_msgs::FilterJointTrajectoryWithConstraints::Request>, filters::FilterBase<motion_planning_msgs::FilterJointTrajectoryWithConstraints::Request>)
00065 PLUGINLIB_REGISTER_CLASS(ClampedCubicSplineSmootherFilterJointTrajectoryWithConstraints, spline_smoother::ClampedCubicSplineSmoother<motion_planning_msgs::FilterJointTrajectoryWithConstraints::Request>, filters::FilterBase<motion_planning_msgs::FilterJointTrajectoryWithConstraints::Request>)
00066 PLUGINLIB_REGISTER_CLASS(FritschButlandSplineSmootherFilterJointTrajectoryWithConstraints, spline_smoother::FritschButlandSplineSmoother<motion_planning_msgs::FilterJointTrajectoryWithConstraints::Request>, filters::FilterBase<motion_planning_msgs::FilterJointTrajectoryWithConstraints::Request>)
00067 PLUGINLIB_REGISTER_CLASS(NumericalDifferentiationSplineSmootherFilterJointTrajectoryWithConstraints, spline_smoother::NumericalDifferentiationSplineSmoother<motion_planning_msgs::FilterJointTrajectoryWithConstraints::Request>, filters::FilterBase<motion_planning_msgs::FilterJointTrajectoryWithConstraints::Request>)
00068 PLUGINLIB_REGISTER_CLASS(CubicSplineVelocityScalerFilterJointTrajectoryWithConstraints, spline_smoother::CubicSplineVelocityScaler<motion_planning_msgs::FilterJointTrajectoryWithConstraints::Request>, filters::FilterBase<motion_planning_msgs::FilterJointTrajectoryWithConstraints::Request>)
00069 PLUGINLIB_REGISTER_CLASS(CubicParameterizedSplineVelocityScalerFilterJointTrajectoryWithConstraints, spline_smoother::CubicParameterizedSplineVelocityScaler<motion_planning_msgs::FilterJointTrajectoryWithConstraints::Request>, filters::FilterBase<motion_planning_msgs::FilterJointTrajectoryWithConstraints::Request>)