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