Public Member Functions
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 >:
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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 ()

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.


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.


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


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


spline_smoother
Author(s): Mrinal Kalakrishnan / mail@mrinal.net
autogenerated on Thu Dec 12 2013 11:09:51