Public Member Functions | Private Attributes
industrial_trajectory_filters::UniformSampleFilter< T > Class Template Reference

This is a simple filter which performs a uniforming sampling of a trajectory using linear interpolation. More...

#include <uniform_sample_filter.h>

Inheritance diagram for industrial_trajectory_filters::UniformSampleFilter< T >:
Inheritance graph
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List of all members.

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.
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 ()
 Default constructor.
bool update (const T &trajectory_in, T &trajectory_out)
 ~UniformSampleFilter ()
 Default destructor.

Private Attributes

double sample_duration_
 uniform sample duration (sec)

Detailed Description

template<typename T>
class industrial_trajectory_filters::UniformSampleFilter< T >

This is a simple filter which performs a uniforming sampling of a trajectory using linear interpolation.

Definition at line 55 of file uniform_sample_filter.h.


Constructor & Destructor Documentation

template<typename T >
UniformSampleFilter::UniformSampleFilter ( )

Default constructor.

Definition at line 41 of file uniform_sample_filter.cpp.

template<typename T >
UniformSampleFilter::~UniformSampleFilter ( )

Default destructor.

Definition at line 51 of file uniform_sample_filter.cpp.


Member Function Documentation

template<typename T >
bool UniformSampleFilter::configure ( ) [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 industrial_trajectory_filters::FilterBase< T >.

Definition at line 56 of file uniform_sample_filter.cpp.

template<typename T >
bool UniformSampleFilter::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:
p1prior trajectory point
p2subsequent trajectory point
time_from_starttime from start of trajectory (i.e. p0).
interp_ptresulting interpolated point
Returns:
true if successful, otherwise false.

Definition at line 129 of file uniform_sample_filter.cpp.

template<typename T >
bool UniformSampleFilter::update ( const T trajectory_in,
T trajectory_out 
) [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_innon uniform trajectory
trajectory_outuniform(in terms of time) trajectory
Returns:

Implements industrial_trajectory_filters::FilterBase< T >.

Definition at line 68 of file uniform_sample_filter.cpp.


Member Data Documentation

template<typename T >
double industrial_trajectory_filters::UniformSampleFilter< T >::sample_duration_ [private]

uniform sample duration (sec)

Definition at line 96 of file uniform_sample_filter.h.


The documentation for this class was generated from the following files:


industrial_trajectory_filters
Author(s): Shaun Edwards , Jorge Nicho
autogenerated on Sat Jun 8 2019 20:43:16