This class filters the trajectory using a Finite Impluse Response filter. More...
#include <smoothing_trajectory_filter.h>
Public Member Functions | |
bool | applyFilter (robot_trajectory::RobotTrajectory &rob_trajectory) const |
bool | init (std::vector< double > &coef) |
Constructor. More... | |
SmoothingTrajectoryFilter () | |
Constructor. More... | |
~SmoothingTrajectoryFilter () | |
Destructor. More... | |
Private Attributes | |
std::vector< double > | coef_ |
double | gain_ |
bool | initialized_ |
int | num_coef_ |
This class filters the trajectory using a Finite Impluse Response filter.
Definition at line 46 of file smoothing_trajectory_filter.h.
industrial_trajectory_filters::SmoothingTrajectoryFilter::SmoothingTrajectoryFilter | ( | ) |
Constructor.
Definition at line 49 of file smoothing_trajectory_filter.cpp.
industrial_trajectory_filters::SmoothingTrajectoryFilter::~SmoothingTrajectoryFilter | ( | ) |
Destructor.
Definition at line 73 of file smoothing_trajectory_filter.cpp.
bool industrial_trajectory_filters::SmoothingTrajectoryFilter::applyFilter | ( | robot_trajectory::RobotTrajectory & | rob_trajectory | ) | const |
Definition at line 78 of file smoothing_trajectory_filter.cpp.
bool industrial_trajectory_filters::SmoothingTrajectoryFilter::init | ( | std::vector< double > & | coef | ) |
Constructor.
coef | a vector of Smoothing coeficients with an odd number of values |
Definition at line 54 of file smoothing_trajectory_filter.cpp.
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Vector of coefficients
Definition at line 69 of file smoothing_trajectory_filter.h.
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gain_ is the sum of the coeficients to achieve unity gain overall
Definition at line 67 of file smoothing_trajectory_filter.h.
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was the init() function called sucessfully?
Definition at line 70 of file smoothing_trajectory_filter.h.
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Definition at line 68 of file smoothing_trajectory_filter.h.