online_signal_smoothing::ButterworthFilter Class Reference

#include <butterworth_filter.h>

Public Member Functions
	ButterworthFilter (double low_pass_filter_coeff)
	ButterworthFilter ()=delete
double	filter (double new_measurement)
void	reset (const double data)

Detailed Description

Class ButterworthFilter - Implementation of a signal filter to soften jerks. This is a first-order Butterworth low-pass filter. First-order was chosen for 2 reasons:

• It doesn't overshoot
• Computational efficiency

Definition at line 56 of file butterworth_filter.h.

Constructor & Destructor Documentation

ButterworthFilter() [1/2]

online_signal_smoothing::ButterworthFilter::ButterworthFilter

(

double

low_pass_filter_coeff

)

Constructor.

Parameters

low_pass_filter_coeff

Larger filter_coeff-> more smoothing of servo commands, but more lag. Rough plot, with cutoff frequency on the y-axis: https://www.wolframalpha.com/input/?i=plot+arccot(c)

Definition at line 50 of file butterworth_filter.cpp.

ButterworthFilter() [2/2]

online_signal_smoothing::ButterworthFilter::ButterworthFilter ( )

delete

Member Function Documentation

filter()

double online_signal_smoothing::ButterworthFilter::filter

(

double

new_measurement

)

Definition at line 75 of file butterworth_filter.cpp.

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reset()

void online_signal_smoothing::ButterworthFilter::reset

(

const double

data

)

Definition at line 87 of file butterworth_filter.cpp.

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

• moveit_core/online_signal_smoothing/include/moveit/online_signal_smoothing/butterworth_filter.h
• moveit_core/online_signal_smoothing/src/butterworth_filter.cpp