00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2014, Southwest Research Institute 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Chris Lewis */ 00036 00037 #ifndef MOVEIT_TRAJECTORY_PROCESSING_SMOOTHING_TRAJECTORY_FILTER_ 00038 #define MOVEIT_TRAJECTORY_PROCESSING_SMOOTHING_TRAJECTORY_FILTER_ 00039 00040 #include <moveit/robot_trajectory/robot_trajectory.h> 00041 00042 namespace industrial_trajectory_filters 00043 { 00044 00046 class SmoothingTrajectoryFilter 00047 { 00048 public: 00050 SmoothingTrajectoryFilter(); 00051 00053 ~SmoothingTrajectoryFilter(); 00054 00059 bool init(std::vector<double> &coef); 00060 00061 /* \brief action of filter depends on the coefficients, intended to be a low pass filter 00062 * @param rob_trajectory A robot_trajectory::RobotTrajectory to be filtered 00063 */ 00064 bool applyFilter(robot_trajectory::RobotTrajectory& rob_trajectory) const; 00065 00066 private: 00067 double gain_; 00068 int num_coef_; /*< the number of coefficients */ 00069 std::vector<double> coef_; 00070 bool initialized_; 00071 }; 00072 00073 } 00074 #endif