industrial_trajectory_filters::SmoothingTrajectoryFilter Class Reference

This class filters the trajectory using a Finite Impluse Response filter. More...

#include <smoothing_trajectory_filter.h>

List of all members.

Public Member Functions
bool	applyFilter (robot_trajectory::RobotTrajectory &rob_trajectory) const
bool	init (std::vector< double > &coef)
	Constructor.
	SmoothingTrajectoryFilter ()
	Constructor.
	~SmoothingTrajectoryFilter ()
	Destructor.
Private Attributes
std::vector< double >	coef_
double	gain_
bool	initialized_
int	num_coef_

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Detailed Description

This class filters the trajectory using a Finite Impluse Response filter.

Definition at line 46 of file smoothing_trajectory_filter.h.

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Constructor & Destructor Documentation

industrial_trajectory_filters::SmoothingTrajectoryFilter::SmoothingTrajectoryFilter

(

)

Constructor.

Definition at line 49 of file smoothing_trajectory_filter.cpp.

industrial_trajectory_filters::SmoothingTrajectoryFilter::~SmoothingTrajectoryFilter

(

)

Destructor.

Definition at line 73 of file smoothing_trajectory_filter.cpp.

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Member Function Documentation

bool industrial_trajectory_filters::SmoothingTrajectoryFilter::applyFilter

(

robot_trajectory::RobotTrajectory &

rob_trajectory

)

const

Definition at line 78 of file smoothing_trajectory_filter.cpp.

bool industrial_trajectory_filters::SmoothingTrajectoryFilter::init

(

std::vector< double > &

coef

)

Constructor.

Parameters:

coef	a vector of Smoothing coeficients with an odd number of values

Returns:

true if the number of coeficients is odd, otherwise, false. All smoothing filters have odd number of coef

Definition at line 54 of file smoothing_trajectory_filter.cpp.

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Member Data Documentation

std::vector<double> industrial_trajectory_filters::SmoothingTrajectoryFilter::coef_ [private]

Vector of coefficients

Definition at line 69 of file smoothing_trajectory_filter.h.

double industrial_trajectory_filters::SmoothingTrajectoryFilter::gain_ [private]

gain_ is the sum of the coeficients to achieve unity gain overall

Definition at line 67 of file smoothing_trajectory_filter.h.

bool industrial_trajectory_filters::SmoothingTrajectoryFilter::initialized_ [private]

was the init() function called sucessfully?

Definition at line 70 of file smoothing_trajectory_filter.h.

int industrial_trajectory_filters::SmoothingTrajectoryFilter::num_coef_ [private]

Definition at line 68 of file smoothing_trajectory_filter.h.

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The documentation for this class was generated from the following files:

• smoothing_trajectory_filter.h
• smoothing_trajectory_filter.cpp