n_point_filter.h

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#ifndef N_POINT_FILTER_H_
#define N_POINT_FILTER_H_

#include <industrial_trajectory_filters/filter_base.h>

namespace industrial_trajectory_filters
{

template<typename T>

  class NPointFilter : public industrial_trajectory_filters::FilterBase<T>
  {
  public:
    NPointFilter();
    ~NPointFilter();
    ;

    virtual bool configure();

    // \brief Reduces a trajectory to N points or less.  The resulting trajectory
    // contains only point within the original trajectory (no interpolation is done
    // between points).

    bool update(const T& trajectory_in, T& trajectory_out);

  private:
    int n_points_;

  };

typedef NPointFilter<MessageAdapter> NPointFilterAdapter;

}

#endif