smoothing_trajectory_filter.h
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34 
35 /* Author: Chris Lewis */
36 
37 #ifndef MOVEIT_TRAJECTORY_PROCESSING_SMOOTHING_TRAJECTORY_FILTER_
38 #define MOVEIT_TRAJECTORY_PROCESSING_SMOOTHING_TRAJECTORY_FILTER_
39 
41 
43 {
44 
47 {
48 public:
51 
54 
59  bool init(std::vector<double> &coef);
60 
61  /* \brief action of filter depends on the coefficients, intended to be a low pass filter
62  * @param rob_trajectory A robot_trajectory::RobotTrajectory to be filtered
63  */
64  bool applyFilter(robot_trajectory::RobotTrajectory& rob_trajectory) const;
65 
66 private:
67  double gain_;
68  int num_coef_; /*< the number of coefficients */
69  std::vector<double> coef_;
70  bool initialized_;
71 };
72 
73 }
74 #endif
bool applyFilter(robot_trajectory::RobotTrajectory &rob_trajectory) const
This class filters the trajectory using a Finite Impluse Response filter.


open_manipulator_moveit
Author(s): Darby Lim , Hye-Jong KIM , Ryan Shim , Yong-Ho Na
autogenerated on Mon Jun 10 2019 14:12:12