online_signal_smoothing::SmoothingBaseClass Class Reference

#include <smoothing_base_class.h>

Inheritance diagram for online_signal_smoothing::SmoothingBaseClass:

Public Member Functions
	SmoothingBaseClass ()
virtual	~SmoothingBaseClass ()
virtual bool	initialize (rclcpp::Node::SharedPtr node, moveit::core::RobotModelConstPtr robot_model, size_t num_joints)=0
virtual bool	doSmoothing (std::vector< double > &position_vector)=0
virtual bool	reset (const std::vector< double > &joint_positions)=0

Detailed Description

Definition at line 56 of file smoothing_base_class.h.

Constructor & Destructor Documentation

SmoothingBaseClass()

online_signal_smoothing::SmoothingBaseClass::SmoothingBaseClass ( )

default

~SmoothingBaseClass()

online_signal_smoothing::SmoothingBaseClass::~SmoothingBaseClass ( )

virtualdefault

Member Function Documentation

doSmoothing()

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

pure virtual

Smooth an array of joint position deltas

Parameters

position_vector

array of joint position commands

Returns

True if initialization was successful

Implemented in online_signal_smoothing::ButterworthFilterPlugin.

initialize()

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

pure virtual

Initialize the smoothing algorithm

Parameters

node	ROS node, typically 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

Implemented in online_signal_smoothing::ButterworthFilterPlugin.

reset()

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

pure virtual

Reset to a given joint state

Parameters

joint_positions

reset the filters to these joint positions

Returns

True if reset was successful

Implemented in online_signal_smoothing::ButterworthFilterPlugin.

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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/smoothing_base_class.h
• moveit_core/online_signal_smoothing/src/smoothing_base_class.cpp