include
industrial_trajectory_filters
smoothing_trajectory_filter.h
Go to the documentation of this file.
1
/*********************************************************************
2
* Software License Agreement (BSD License)
3
*
4
* Copyright (c) 2014, Southwest Research Institute
5
* All rights reserved.
6
*
7
* Redistribution and use in source and binary forms, with or without
8
* modification, are permitted provided that the following conditions
9
* are met:
10
*
11
* * Redistributions of source code must retain the above copyright
12
* notice, this list of conditions and the following disclaimer.
13
* * Redistributions in binary form must reproduce the above
14
* copyright notice, this list of conditions and the following
15
* disclaimer in the documentation and/or other materials provided
16
* with the distribution.
17
* * Neither the name of Willow Garage nor the names of its
18
* contributors may be used to endorse or promote products derived
19
* from this software without specific prior written permission.
20
*
21
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32
* POSSIBILITY OF SUCH DAMAGE.
33
*********************************************************************/
34
35
/* Author: Chris Lewis */
36
37
#ifndef MOVEIT_TRAJECTORY_PROCESSING_SMOOTHING_TRAJECTORY_FILTER_
38
#define MOVEIT_TRAJECTORY_PROCESSING_SMOOTHING_TRAJECTORY_FILTER_
39
40
#include <
moveit/robot_trajectory/robot_trajectory.h
>
41
42
namespace
industrial_trajectory_filters
43
{
44
46
class
SmoothingTrajectoryFilter
47
{
48
public
:
50
SmoothingTrajectoryFilter
();
51
53
~SmoothingTrajectoryFilter
();
54
59
bool
init
(std::vector<double> &coef);
60
61
/* \brief action of filter depends on the coefficients, intended to be a low pass filter
62
* @param rob_trajectory A robot_trajectory::RobotTrajectory to be filtered
63
*/
64
bool
applyFilter
(
robot_trajectory::RobotTrajectory
& rob_trajectory)
const
;
65
66
private
:
67
double
gain_
;
68
int
num_coef_
;
/*< the number of coefficients */
69
std::vector<double>
coef_
;
70
bool
initialized_
;
71
};
72
73
}
74
#endif
industrial_trajectory_filters::SmoothingTrajectoryFilter::coef_
std::vector< double > coef_
Definition:
smoothing_trajectory_filter.h:133
industrial_trajectory_filters
Definition:
filter_base.h:43
industrial_trajectory_filters::SmoothingTrajectoryFilter::SmoothingTrajectoryFilter
SmoothingTrajectoryFilter()
Constructor.
Definition:
smoothing_trajectory_filter.cpp:81
robot_trajectory::RobotTrajectory
robot_trajectory.h
industrial_trajectory_filters::SmoothingTrajectoryFilter::num_coef_
int num_coef_
Definition:
smoothing_trajectory_filter.h:132
industrial_trajectory_filters::SmoothingTrajectoryFilter::init
bool init(std::vector< double > &coef)
Constructor.
Definition:
smoothing_trajectory_filter.cpp:86
industrial_trajectory_filters::SmoothingTrajectoryFilter::initialized_
bool initialized_
Definition:
smoothing_trajectory_filter.h:134
industrial_trajectory_filters::SmoothingTrajectoryFilter::gain_
double gain_
Definition:
smoothing_trajectory_filter.h:131
industrial_trajectory_filters::SmoothingTrajectoryFilter::~SmoothingTrajectoryFilter
~SmoothingTrajectoryFilter()
Destructor.
Definition:
smoothing_trajectory_filter.cpp:105
industrial_trajectory_filters::SmoothingTrajectoryFilter::applyFilter
bool applyFilter(robot_trajectory::RobotTrajectory &rob_trajectory) const
Definition:
smoothing_trajectory_filter.cpp:110
industrial_trajectory_filters
Author(s): Shaun Edwards, Jorge Nicho
autogenerated on Wed Mar 2 2022 00:24:49