parabolic_linear_blend.h

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#ifndef PARABOLIC_LINEAR_BLEND_H_
#define PARABOLIC_LINEAR_BLEND_H_

#include <spline_smoother/spline_smoother.h>
#include <trajectory_msgs/JointTrajectoryPoint.h>

namespace constraint_aware_spline_smoother
{

template <typename T>
class ParabolicLinearBlendSmoother : public spline_smoother::SplineSmoother<T>
{
public:
  ParabolicLinearBlendSmoother(){};
  ~ParabolicLinearBlendSmoother(){};

  virtual bool configure() { return true; }

  virtual bool smooth(const T& trajectory_in, T& trajectory_out) const;
};

}

#endif