motion::planning::trajectory_smoother::TrajectorySmoother Class Reference

Smooth over the trajectory by passing it through a gaussian filter. More...

#include <trajectory_smoother.hpp>

Public Member Functions
	TrajectorySmoother (TrajectorySmootherConfig config)
	Initialise the gaussian kernel in the constructor. More...
void	Filter (Trajectory &trajectory)
	Make the trajectory velocity smooth by passing it through a gaussian filter. More...

Detailed Description

Smooth over the trajectory by passing it through a gaussian filter.

Constructor & Destructor Documentation

TrajectorySmoother()

motion::planning::trajectory_smoother::TrajectorySmoother::TrajectorySmoother ( TrajectorySmootherConfig  config )

explicit

Initialise the gaussian kernel in the constructor.

Parameters

[in]

config

Configuration containing parameters for the kernel

Member Function Documentation

Filter()

void motion::planning::trajectory_smoother::TrajectorySmoother::Filter

(

Trajectory &

trajectory

)

Make the trajectory velocity smooth by passing it through a gaussian filter.

Parameters

[in,out]

trajectory

The trajectory to be smoothed. This is modified in place.

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

• trajectory_smoother.hpp
• trajectory_smoother.cpp