spline_smoother.h
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00034 
00037 #ifndef SPLINE_SMOOTHER_H_
00038 #define SPLINE_SMOOTHER_H_
00039 
00040 #include <vector>
00041 #include <filters/filter_base.h>
00042 #include <pluginlib/class_list_macros.h>
00043 
00044 namespace spline_smoother
00045 {
00046 
00059 template <typename T>
00060 class SplineSmoother: public filters::FilterBase<T>
00061 {
00062 public:
00063   SplineSmoother(){};
00064   virtual ~SplineSmoother(){};
00065 
00066   virtual bool configure();
00067 
00071   virtual bool update(const T& data_in, T& data_out);
00072 
00079   virtual bool smooth(const T& trajectory_in, T& trajectory_out) const = 0;
00080 };
00081 
00083 
00084 template <typename T>
00085 inline bool SplineSmoother<T>::configure()
00086 {
00087   return true;
00088 }
00089 
00090 template <typename T>
00091 inline bool SplineSmoother<T>::update(const T& data_in, 
00092                                    T& data_out)
00093 {
00094   return smooth(data_in, data_out);
00095 }
00096 
00097 }
00098 
00099 //#define REGISTER_SPLINE_SMOOTHER(class_name, class_type)              
00100 //  PLUGINLIB_REGISTER_CLASS(class_name, class_type, filters::FilterBase<T>)
00101 
00102 #endif /* SPLINE_SMOOTHER_H_ */


spline_smoother
Author(s): Mrinal Kalakrishnan / mail@mrinal.net
autogenerated on Thu Dec 12 2013 11:09:50