00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2013, 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 are met: 00009 * 00010 * * Redistributions of source code must retain the above copyright 00011 * notice, this list of conditions and the following disclaimer. 00012 * * Redistributions in binary form must reproduce the above copyright 00013 * notice, this list of conditions and the following disclaimer in the 00014 * documentation and/or other materials provided with the distribution. 00015 * * Neither the name of the Southwest Research Institute, nor the names 00016 * of its contributors may be used to endorse or promote products derived 00017 * from this software without specific prior written permission. 00018 * 00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00020 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00021 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00022 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00023 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00024 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00025 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00026 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00027 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00028 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00029 * POSSIBILITY OF SUCH DAMAGE. 00030 */ 00031 00032 #ifndef UNIFORM_SAMPLE_FILTER_H_ 00033 #define UNIFORM_SAMPLE_FILTER_H_ 00034 00035 #include <industrial_trajectory_filters/filter_base.h> 00036 00037 /* 00038 * These headers were part of the trajectory filter interface from the 00039 * arm navigation system. These can no longer be included in a catkin based 00040 * package. 00041 #include <filters/filter_base.h> 00042 #include <pluginlib/class_list_macros.h> 00043 */ 00044 00045 namespace industrial_trajectory_filters 00046 { 00047 00053 template<typename T> 00054 00055 class UniformSampleFilter : public industrial_trajectory_filters::FilterBase<T> 00056 { 00057 public: 00061 UniformSampleFilter(); 00065 ~UniformSampleFilter(); 00066 00067 virtual bool configure(); 00068 00078 bool update(const T& trajectory_in, T& trajectory_out); 00079 00089 bool interpolatePt(trajectory_msgs::JointTrajectoryPoint & p1, trajectory_msgs::JointTrajectoryPoint & p2, 00090 double time_from_start, trajectory_msgs::JointTrajectoryPoint & interp_pt); 00091 00092 private: 00096 double sample_duration_; 00097 }; 00098 00102 typedef UniformSampleFilter<MessageAdapter> UniformSampleFilterAdapter; 00103 00104 } 00105 00106 #endif