online_signal_smoothing::ButterworthFilterPlugin Class Reference

#include <butterworth_filter.h>

Inheritance diagram for online_signal_smoothing::ButterworthFilterPlugin:

Collaboration diagram for online_signal_smoothing::ButterworthFilterPlugin:

Public Member Functions
bool	initialize (rclcpp::Node::SharedPtr node, moveit::core::RobotModelConstPtr robot_model, size_t num_joints) override
bool	doSmoothing (std::vector< double > &position_vector) override
bool	reset (const std::vector< double > &joint_positions) override
Public Member Functions inherited from online_signal_smoothing::SmoothingBaseClass
	SmoothingBaseClass ()
virtual	~SmoothingBaseClass ()

Detailed Description

Definition at line 82 of file butterworth_filter.h.

Member Function Documentation

doSmoothing()

bool online_signal_smoothing::ButterworthFilterPlugin::doSmoothing ( std::vector< double > &  position_vector )

overridevirtual

Smooth the command signals for all DOF

Parameters

position_vector

array of joint position commands

Returns

True if initialization was successful

Implements online_signal_smoothing::SmoothingBaseClass.

Definition at line 112 of file butterworth_filter.cpp.

initialize()

bool online_signal_smoothing::ButterworthFilterPlugin::initialize ( rclcpp::Node::SharedPtr  node, moveit::core::RobotModelConstPtr  robot_model, size_t  num_joints  )

overridevirtual

Initialize the smoothing algorithm

Parameters

node	ROS node, used for parameter retrieval
robot_model	typically used to retrieve vel/accel/jerk limits
num_joints	number of actuated joints in the JointGroup Servo controls

Returns

True if initialization was successful

Implements online_signal_smoothing::SmoothingBaseClass.

Definition at line 94 of file butterworth_filter.cpp.

reset()

bool online_signal_smoothing::ButterworthFilterPlugin::reset ( const std::vector< double > &  joint_positions )

overridevirtual

Reset to a given joint state

Parameters

joint_positions

reset the filters to these joint positions

Returns

True if reset was successful

Implements online_signal_smoothing::SmoothingBaseClass.

Definition at line 128 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