cubic_parameterized_spline_velocity_scaler.h

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#ifndef CUBIC_PARAMETERIZED_SPLINE_VELOCITY_SCALER_H_
#define CUBIC_PARAMETERIZED_SPLINE_VELOCITY_SCALER_H_

#include <spline_smoother/spline_smoother.h>
#include <spline_smoother/cubic_parameterized_trajectory.h>
namespace spline_smoother
{

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

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

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

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

  template <typename T>
  bool CubicParameterizedSplineVelocityScaler<T>::smooth(const T& trajectory_in, T& trajectory_out) const
  {
    spline_smoother::CubicParameterizedTrajectory traj;
    spline_smoother::SplineTrajectory spline;
    T trajectory_local = trajectory_in;
    if (!checkTrajectoryConsistency(trajectory_local))
      return false;
    bool success = traj.parameterize(trajectory_local.request.trajectory,trajectory_local.request.limits,spline);
    if(!success)
      return false;

    trajectory_out = trajectory_local;

    double dT = 0.01;
    std::set<double> times;
    double total_time;
    spline_smoother::getTotalTime(spline,total_time);
    for(int i=1; i< (int) (total_time/dT); i++)
      times.insert(i*dT);
    times.insert(total_time);

    double insert_time = 0;
    for(unsigned int i=0; i < spline.segments.size(); i++)
    {
      insert_time += spline.segments[i].duration.toSec();
      times.insert(insert_time);
    }

    std::vector<double> times_vec;
    for(std::set<double>::iterator set_iter = times.begin(); set_iter != times.end(); set_iter++)
    {
      times_vec.push_back(*set_iter);
    }
    std::sort(times_vec.begin(), times_vec.end());

    if(!spline_smoother::sampleSplineTrajectory(spline,times_vec,trajectory_out.request.trajectory))
      return false;

    return true;
  }
}

#endif /* CUBIC_PARAMETERIZED_SPLINE_SMOOTHER_H_ */