normalize_joint_trajectory.h

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#ifndef NORMALIZE_JOINT_TRAJECTORY_H_
#define NORMALIZE_JOINT_TRAJECTORY_H_

#include <spline_smoother/spline_smoother.h>
#include <spline_smoother/spline_smoother_utils.h>
#include <angles/angles.h>

namespace joint_normalization_filters
{

template <typename T>
class NormalizeJointTrajectory: public spline_smoother::SplineSmoother<T>
{
public:
  NormalizeJointTrajectory();
  virtual ~NormalizeJointTrajectory();

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

};

template <typename T>
bool NormalizeJointTrajectory<T>::smooth(const T& data_in, 
                                         T& data_out) const
{
  data_out = data_in;

  int size = data_in.request.trajectory.points.size();
  int num_joints = data_in.request.trajectory.joint_names.size();

  if (!spline_smoother::checkTrajectoryConsistency(data_out))
    return false;

  for (int i=0; i<num_joints; ++i)
  {
    if (!data_out.request.limits[i].has_position_limits)
    {
      for (int j=1; j<size; ++j)
      {
        double& cur = data_out.request.trajectory.points[j].positions[i];
        double prev = data_out.request.trajectory.points[j-1].positions[i];

        cur = prev + angles::shortest_angular_distance(prev, cur);
      }
    }
  }
  return true;
}

template <typename T>
NormalizeJointTrajectory<T>::NormalizeJointTrajectory()
{
}

template <typename T>
NormalizeJointTrajectory<T>::~NormalizeJointTrajectory()
{
}

}

#endif /* NORMALIZE_JOINT_TRAJECTORY_H */