n_point_filter.h

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#ifndef N_POINT_FILTER_H_
#define N_POINT_FILTER_H_

#include <filters/filter_base.h>
#include <pluginlib/class_list_macros.h>

namespace industrial_trajectory_filters
{

// \brief This is a simple filter which reduces a trajectory to N points or less
template <typename T>

class NPointFilter: public filters::FilterBase<T>
{
public:
        NPointFilter();
  ~NPointFilter();

  virtual bool configure();

  // \brief Reduces a trajectory to N points or less.  The resulting trajectory
  // contains only point within the original trajectory (no interpolation is done
  // between points).
  bool update(const T& trajectory_in, T& trajectory_out);

private:
  int                   n_points_;                                      // @brief number of points to reduce trajectory to

};

}

#endif