This is a simple filter which performs a uniforming sampling of a trajectory using linear interpolation. More...
#include <uniform_sample_filter.h>
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) |
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.
UniformSampleFilter::UniformSampleFilter | ( | ) |
Default constructor.
Definition at line 41 of file uniform_sample_filter.cpp.
UniformSampleFilter::~UniformSampleFilter | ( | ) |
Default destructor.
Definition at line 51 of file uniform_sample_filter.cpp.
bool UniformSampleFilter::configure | ( | ) | [virtual] |
FilterBase method for the sub class to configure the filter This function must be implemented in the derived class.
Implements industrial_trajectory_filters::FilterBase< T >.
Definition at line 56 of file uniform_sample_filter.cpp.
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.
p1 | prior trajectory point |
p2 | subsequent trajectory point |
time_from_start | time from start of trajectory (i.e. p0). |
interp_pt | resulting interpolated point |
Definition at line 129 of file uniform_sample_filter.cpp.
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.
trajectory_in | non uniform trajectory |
trajectory_out | uniform(in terms of time) trajectory |
Implements industrial_trajectory_filters::FilterBase< T >.
Definition at line 68 of file uniform_sample_filter.cpp.
double industrial_trajectory_filters::UniformSampleFilter< T >::sample_duration_ [private] |
uniform sample duration (sec)
Definition at line 96 of file uniform_sample_filter.h.