acceleration_filter.cpp File Reference

#include <moveit/online_signal_smoothing/acceleration_filter.hpp>
#include <rclcpp/logging.hpp>
#include <pluginlib/class_list_macros.hpp>

Include dependency graph for acceleration_filter.cpp:

Go to the source code of this file.

Classes
struct	online_signal_smoothing::CSCWrapper
	Wrapper struct to make memory management easier for using osqp's C sparse_matrix types. More...
struct	online_signal_smoothing::OSQPDataWrapper
	Wrapper struct to make memory management easier for using osqp's C API. On OSQP v0.6.x, the aggregated OSQPData struct is populated in the constructor and passed as a single pointer to osqp_setup. On OSQP v1.0+, that aggregate no longer exists — matrices/vectors are passed directly to osqp_setup — but this wrapper still owns the Eigen-backed memory for P, A, q, l, u so the solver's borrowed pointers stay alive across the object's lifetime. More...

Namespaces
namespace	online_signal_smoothing

Typedefs
using	online_signal_smoothing::OSQPInt = c_int
using	online_signal_smoothing::OSQPCscMatrix = csc

Functions
rclcpp::Logger	online_signal_smoothing::getLogger ()
	online_signal_smoothing::MOVEIT_STRUCT_FORWARD (OSQPDataWrapper)
double	online_signal_smoothing::jointLimitAccelerationScalingFactor (const Eigen::VectorXd &accelerations, const moveit::core::JointBoundsVector &joint_bounds)
bool	online_signal_smoothing::updateData (const OSQPDataWrapperPtr &data, OSQPWorkspace *solver, Eigen::SparseMatrix< double > &constraints_sparse, const Eigen::VectorXd &lower_bound, const Eigen::VectorXd &upper_bound)

Variables
constexpr double	online_signal_smoothing::COMMAND_DIFFERENCE_THRESHOLD = 1E-4
constexpr double	online_signal_smoothing::ALPHA_UPPER_BOUND = 1.0
constexpr double	online_signal_smoothing::ALPHA_LOWER_BOUND = 0.0