trajectory_interpolator.h
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00001 /*
00002  * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *   http://www.apache.org/licenses/LICENSE-2.0
00009 
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  */
00016 
00017 
00018 #ifndef COB_CARTESIAN_CONTROLLER_TRAJECTORY_INTERPOLATOR_TRAJECTORY_INTERPOLATOR_H
00019 #define COB_CARTESIAN_CONTROLLER_TRAJECTORY_INTERPOLATOR_TRAJECTORY_INTERPOLATOR_H
00020 
00021 #include <string>
00022 #include <ros/ros.h>
00023 #include <geometry_msgs/PoseArray.h>
00024 #include <tf/transform_datatypes.h>
00025 
00026 #include <cob_cartesian_controller/cartesian_controller_data_types.h>
00027 #include <cob_cartesian_controller/trajectory_profile_generator/trajectory_profile_generator_builder.h>
00028 
00029 class TrajectoryInterpolator
00030 {
00031 public:
00032     TrajectoryInterpolator(std::string root_frame, double update_rate)
00033     :   root_frame_(root_frame)
00034     {}
00035 
00036     ~TrajectoryInterpolator()
00037     {
00038         trajectory_profile_generator_.reset();
00039     }
00040 
00041     bool linearInterpolation(geometry_msgs::PoseArray& pose_array,
00042                              const cob_cartesian_controller::CartesianActionStruct as);
00043 
00044     bool circularInterpolation(geometry_msgs::PoseArray& pose_array,
00045                                const cob_cartesian_controller::CartesianActionStruct as);
00046 
00047 private:
00048     std::string root_frame_;
00049     boost::shared_ptr<TrajectoryProfileBase> trajectory_profile_generator_;
00050 };
00051 
00052 #endif  // COB_CARTESIAN_CONTROLLER_TRAJECTORY_INTERPOLATOR_TRAJECTORY_INTERPOLATOR_H


cob_cartesian_controller
Author(s): Christoph Mark
autogenerated on Thu Jun 6 2019 21:19:40