This is a simple filter which performs a uniforming sampling of a trajectory using linear interpolation. More...
#include <simple_resample_filter.h>
Public Member Functions | |
| virtual bool | configure () |
| FilterBase method for the sub class to configure the filter This function must be implemented in the derived class. More... | |
| bool | interpolatePt (trajectory_msgs::JointTrajectoryPoint &p1, trajectory_msgs::JointTrajectoryPoint &p2, double time_from_start, trajectory_msgs::JointTrajectoryPoint &interp_pt) |
| Perform interpolation between p1 and p2. Time from start must be in between p1 and p2 times. More... | |
| SimpleResampleFilter () | |
| Default constructor. More... | |
| bool | update (const T &trajectory_in, T &trajectory_out) |
| ~SimpleResampleFilter () | |
| Default destructor. More... | |
 Public Member Functions inherited from fsrobo_r_trajectory_filters::FilterBase< T > | |
| FilterBase () | |
| Default constructor. More... | |
| const std::string & | getName () |
| Original FitlerBase Method. More... | |
| std::string | getType () |
| Original FilterBase method, return filter type. More... | |
| virtual | ~FilterBase () |
| Public Member Functions inherited from planning_request_adapter::PlanningRequestAdapter | |
| bool | adaptAndPlan (const planning_interface::PlannerManagerPtr &planner, const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res) const |
| bool | adaptAndPlan (const planning_interface::PlannerManagerPtr &planner, const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res, std::vector< std::size_t > &added_path_index) const |
| PlanningRequestAdapter () | |
| virtual | ~PlanningRequestAdapter () |
Private Attributes | |
| double | sample_duration_ |
| uniform sample duration (sec) More... | |
Additional Inherited Members | |
| Public Types inherited from planning_request_adapter::PlanningRequestAdapter | |
| typedef boost::function< bool(const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res)> | PlannerFn |
| Protected Member Functions inherited from fsrobo_r_trajectory_filters::FilterBase< T > | |
| virtual bool | adaptAndPlan (const PlannerFn &planner, const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res, std::vector< std::size_t > &added_path_index) const |
| Moveit Planning Request Adapter method. This basic implementation of the adaptAndPlan method calls the planner and then maps the trajectory data from the MotionPlanResponse object into the MessageAdapter mapping structure. The MessageAdapter object is then passed to the "update" method that resembles that from the old FilterBase interface class. The filtered trajectory is finally saved in the MotionPlanResponse object. More... | |
| virtual std::string | getDescription () const |
| Return description string. More... | |
| Protected Attributes inherited from fsrobo_r_trajectory_filters::FilterBase< T > | |
| bool | configured_ |
| Holds filter configuration state. More... | |
| std::string | filter_name_ |
| filter name More... | |
| std::string | filter_type_ |
| ros::NodeHandle | nh_ |
| Internal node handle (used for parameter lookup) More... | |
Detailed Description
template<typename T>
class fsrobo_r_trajectory_filters::SimpleResampleFilter< T >
This is a simple filter which performs a uniforming sampling of a trajectory using linear interpolation.
Definition at line 56 of file simple_resample_filter.h.
Constructor & Destructor Documentation
| SimpleResampleFilter::SimpleResampleFilter | ( | ) |
Default constructor.
Definition at line 41 of file simple_resample_filter.cpp.
| SimpleResampleFilter::~SimpleResampleFilter | ( | ) |
Default destructor.
Definition at line 51 of file simple_resample_filter.cpp.
Member Function Documentation
|
virtual |
FilterBase method for the sub class to configure the filter This function must be implemented in the derived class.
- Returns
- true if successful, otherwise false.
Implements fsrobo_r_trajectory_filters::FilterBase< T >.
Definition at line 56 of file simple_resample_filter.cpp.
| bool SimpleResampleFilter::interpolatePt | ( | trajectory_msgs::JointTrajectoryPoint & | p1, |
| trajectory_msgs::JointTrajectoryPoint & | p2, | ||
| double | time_from_start, | ||
| trajectory_msgs::JointTrajectoryPoint & | interp_pt | ||
| ) |
Perform interpolation between p1 and p2. Time from start must be in between p1 and p2 times.
- Parameters
-
p1 prior trajectory point p2 subsequent trajectory point time_from_start time from start of trajectory (i.e. p0). interp_pt resulting interpolated point
- Returns
- true if successful, otherwise false.
Definition at line 129 of file simple_resample_filter.cpp.
|
virtual |
Uniformly samples(in terms of time) the input trajectory based upon the sample duration. Sampling is performed via interpolation ensuring smooth velocity and acceleration. NOTE: For this reason trajectories must be fully defined before using this filter.
- Parameters
-
trajectory_in non uniform trajectory trajectory_out uniform(in terms of time) trajectory
- Returns
Implements fsrobo_r_trajectory_filters::FilterBase< T >.
Definition at line 68 of file simple_resample_filter.cpp.
Member Data Documentation
|
private |
uniform sample duration (sec)
Definition at line 97 of file simple_resample_filter.h.
The documentation for this class was generated from the following files: