pose_filter.hpp

// Copyright (c) 2024 Open Navigation LLC
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef OPENNAV_DOCKING__POSE_FILTER_HPP_
#define OPENNAV_DOCKING__POSE_FILTER_HPP_
 
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
namespace opennav_docking
{
 
class PoseFilter
{
public:
  PoseFilter(double coef, double timeout);
 
  geometry_msgs::msg::PoseStamped update(const geometry_msgs::msg::PoseStamped & measurement);
 
protected:
  void filter(double & filt, double meas);
 
  double coef_, timeout_;
  geometry_msgs::msg::PoseStamped pose_;
};
 
}  // namespace opennav_docking
 
#endif  // OPENNAV_DOCKING__POSE_FILTER_HPP_