spline_smoother: spline_smoother: linear

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00034 
00037 #ifndef LINEAR_TRAJECTORY_H_
00038 #define LINEAR_TRAJECTORY_H_
00039 
00040 #include <spline_smoother/spline_smoother_utils.h>
00041 
00042 namespace spline_smoother
00043 {
00047 class LinearTrajectory
00048 {
00049 public:
00050   
00051   LinearTrajectory();
00052   
00059   bool parameterize(const trajectory_msgs::JointTrajectory& trajectory_in,
00060                     const std::vector<arm_navigation_msgs::JointLimits> &limits,
00061                     spline_smoother::SplineTrajectory& spline);
00062   
00063 
00064 private:
00065   
00066   double calculateMinimumTime(const trajectory_msgs::JointTrajectoryPoint &start, 
00067                               const trajectory_msgs::JointTrajectoryPoint &end, 
00068                               const std::vector<arm_navigation_msgs::JointLimits> &limits);
00069   
00070   bool apply_limits_;
00071 };
00072 }
00073 
00074 #endif /* LINEAR_TRAJECTORY_H_ */
linear_trajectory.h
