spline_smoother::SplineSmoother< T > Class Template Reference

Abstract base class for spline smoothing. More...

#include <spline_smoother.h>

Inheritance diagram for spline_smoother::SplineSmoother< T >:

[legend]

List of all members.

Public Member Functions
virtual bool	configure ()
virtual bool	smooth (const T &trajectory_in, T &trajectory_out) const =0
	Smooths the input position trajectory by generating velocities and accelerations at the waypoints.
	SplineSmoother ()
virtual bool	update (const T &data_in, T &data_out)
	Implementation of the update() function for the filter.
virtual	~SplineSmoother ()

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Detailed Description

template<typename T>
class spline_smoother::SplineSmoother< T >

Abstract base class for spline smoothing.

A spline smoother is a class that takes in a "WaypointTrajWithLimits" message, potentially containing no velocities / accelerations, and fills them in using some rules. Example implementations are in "ClampedCubicSplineSmoother", "FritschButlandSplineSmoother" and "NumericalDifferentiationSplineSmoother", each of which uses a different set of rules to fill in the velocities and accelerations for spline creation.

To implement a smoother, just override the virtual "smooth" method, and call the REGISTER_SPLINE_SMOOTHER macro with the class name (anywhere in the cpp file)

Definition at line 60 of file spline_smoother.h.

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Constructor & Destructor Documentation

template<typename T >

spline_smoother::SplineSmoother< T >::SplineSmoother

(

)

[inline]

Definition at line 63 of file spline_smoother.h.

template<typename T >

virtual spline_smoother::SplineSmoother< T >::~SplineSmoother

(

)

[inline, virtual]

Definition at line 64 of file spline_smoother.h.

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Member Function Documentation

template<typename T >

bool spline_smoother::SplineSmoother< T >::configure

(

void

)

[inline, virtual]

Implements filters::FilterBase< T >.

Definition at line 85 of file spline_smoother.h.

template<typename T >

virtual bool spline_smoother::SplineSmoother< T >::smooth	(	const T &	trajectory_in,
		T &	trajectory_out
	)			const [pure virtual]

Smooths the input position trajectory by generating velocities and accelerations at the waypoints.

This virtual method needs to implemented by the derived class.

Returns:

true if successful, false if not

Implemented in spline_smoother::ClampedCubicSplineSmoother< T >, spline_smoother::CubicParameterizedSplineVelocityScaler< T >, spline_smoother::CubicSplineVelocityScaler< T >, spline_smoother::FritschButlandSplineSmoother< T >, spline_smoother::LinearSplineVelocityScaler< T >, and spline_smoother::NumericalDifferentiationSplineSmoother< T >.

template<typename T >

bool spline_smoother::SplineSmoother< T >::update	(	const T &	data_in,
		T &	data_out
	)			[inline, virtual]

Implementation of the update() function for the filter.

Implements filters::FilterBase< T >.

Definition at line 91 of file spline_smoother.h.

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The documentation for this class was generated from the following file:

• spline_smoother.h