uniform_sample_filter.h
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31 
32 #ifndef UNIFORM_SAMPLE_FILTER_H_
33 #define UNIFORM_SAMPLE_FILTER_H_
34 
36 
37 /*
38  * These headers were part of the trajectory filter interface from the
39  * arm navigation system. These can no longer be included in a catkin based
40  * package.
41  #include <filters/filter_base.h>
42  #include <pluginlib/class_list_macros.h>
43  */
44 
46 {
47 
53 template<typename T>
54 
56  {
57  public:
66 
67  virtual bool configure();
68 
78  bool update(const T& trajectory_in, T& trajectory_out);
79 
89  bool interpolatePt(trajectory_msgs::JointTrajectoryPoint & p1, trajectory_msgs::JointTrajectoryPoint & p2,
90  double time_from_start, trajectory_msgs::JointTrajectoryPoint & interp_pt);
91 
92  private:
97  };
98 
103 
104 }
105 
106 #endif
This is a simple filter which performs a uniforming sampling of a trajectory using linear interpolati...
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...
UniformSampleFilter< MessageAdapter > UniformSampleFilterAdapter
Specializing trajectory filter implementation.
bool update(const T &trajectory_in, T &trajectory_out)
virtual bool configure()
FilterBase method for the sub class to configure the filter This function must be implemented in the ...
This version of the FilterBase<T> can be used to encapsulate the functionality from an arm navigation...
Definition: filter_base.h:123
double sample_duration_
uniform sample duration (sec)


open_manipulator_with_tb3_waffle_pi_moveit
Author(s): Darby Lim
autogenerated on Mon Jun 10 2019 14:13:54