smoothing_base_class.hpp

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/* Author: Andy Zelenak
   Description: Defines a pluginlib interface for smoothing algorithms.
 */
 
#pragma once
 
#include <rclcpp/rclcpp.hpp>
 
#include <moveit/macros/class_forward.hpp>
#include <moveit_smoothing_base_export.h>
 
#include <Eigen/Dense>
 
namespace moveit
{
namespace core
{
MOVEIT_CLASS_FORWARD(RobotModel);
}  // namespace core
}  // namespace moveit
 
namespace online_signal_smoothing
{
class SmoothingBaseClass
{
public:
  SmoothingBaseClass();
  virtual ~SmoothingBaseClass();

  virtual bool initialize(rclcpp::Node::SharedPtr node, moveit::core::RobotModelConstPtr robot_model,
                          size_t num_joints) = 0;

  virtual bool doSmoothing(Eigen::VectorXd& positions, Eigen::VectorXd& velocities, Eigen::VectorXd& accelerations) = 0;

  virtual bool reset(const Eigen::VectorXd& positions, const Eigen::VectorXd& velocities,
                     const Eigen::VectorXd& accelerations) = 0;
};
}  // namespace online_signal_smoothing