00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 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_ */