simple_resample_filter.h

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#ifndef SIMPLE_RESAMPLE_FILTER_H_
#define SIMPLE_RESAMPLE_FILTER_H_

#include <fsrobo_r_trajectory_filters/filter_base.h>

/*
 * These headers were part of the trajectory filter interface from the
 * arm navigation system.  These can no longer be included in a catkin based
 * package.
 #include <filters/filter_base.h>
 #include <pluginlib/class_list_macros.h>
 */

namespace fsrobo_r_trajectory_filters
{

template<typename T>

  class SimpleResampleFilter : public fsrobo_r_trajectory_filters::FilterBase<T>
  {
  public:
    SimpleResampleFilter();
    ~SimpleResampleFilter();

    virtual bool configure();

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

    bool interpolatePt(trajectory_msgs::JointTrajectoryPoint & p1, trajectory_msgs::JointTrajectoryPoint & p2,
                       double time_from_start, trajectory_msgs::JointTrajectoryPoint & interp_pt);

  private:
    double sample_duration_;
  };

typedef SimpleResampleFilter<MessageAdapter> SimpleResampleFilterAdapter;

}

#endif