smoothing_trajectory_filter.h

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/* Author: Chris Lewis */

#ifndef MOVEIT_TRAJECTORY_PROCESSING_SMOOTHING_TRAJECTORY_FILTER_
#define MOVEIT_TRAJECTORY_PROCESSING_SMOOTHING_TRAJECTORY_FILTER_

#include <moveit/robot_trajectory/robot_trajectory.h>

namespace industrial_trajectory_filters
{

class SmoothingTrajectoryFilter
{
public:
  SmoothingTrajectoryFilter();

  ~SmoothingTrajectoryFilter();
  
  bool init(std::vector<double> &coef);

  /* \brief action of filter depends on the coefficients, intended to be a low pass filter
   *  @param rob_trajectory   A robot_trajectory::RobotTrajectory to be filtered
   */
  bool applyFilter(robot_trajectory::RobotTrajectory& rob_trajectory) const;  

private:
  double gain_; 
  int num_coef_; /*< the number of coefficients  */
  std::vector<double> coef_; 
  bool initialized_; 
};

}
#endif