online_signal_smoothing::AccelerationLimitedPlugin Class Reference

#include <acceleration_filter.hpp>

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Public Member Functions
bool	initialize (rclcpp::Node::SharedPtr node, moveit::core::RobotModelConstPtr robot_model, size_t num_joints) override
bool	doSmoothing (Eigen::VectorXd &positions, Eigen::VectorXd &velocities, Eigen::VectorXd &accelerations) override
bool	reset (const Eigen::VectorXd &positions, const Eigen::VectorXd &velocities, const Eigen::VectorXd &accelerations) override
	~AccelerationLimitedPlugin () override
Public Member Functions inherited from online_signal_smoothing::SmoothingBaseClass
	SmoothingBaseClass ()
virtual	~SmoothingBaseClass ()

Detailed Description

Definition at line 92 of file acceleration_filter.hpp.

Constructor & Destructor Documentation

~AccelerationLimitedPlugin()

online_signal_smoothing::AccelerationLimitedPlugin::~AccelerationLimitedPlugin ( )

inlineoverride

memory allocated by osqp is freed in destructor

Definition at line 128 of file acceleration_filter.hpp.

Member Function Documentation

doSmoothing()

bool online_signal_smoothing::AccelerationLimitedPlugin::doSmoothing ( Eigen::VectorXd &  positions, Eigen::VectorXd &  velocities, Eigen::VectorXd &  accelerations  )

overridevirtual

Smooth the command signals for all DOF. This function limits the change in velocity using the acceleration specified in the robot model.

Parameters

positions	array of joint position commands
velocities	array of joint velocity commands
accelerations	(unused)

Returns

True if smoothing was successful

Implements online_signal_smoothing::SmoothingBaseClass.

Definition at line 246 of file acceleration_filter.cpp.

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initialize()

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

overridevirtual

Initialize the acceleration based smoothing plugin

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 140 of file acceleration_filter.cpp.

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reset()

bool online_signal_smoothing::AccelerationLimitedPlugin::reset ( const Eigen::VectorXd &  positions, const Eigen::VectorXd &  velocities, const Eigen::VectorXd &  accelerations  )

overridevirtual

Reset to a given joint state. This method must be called before doSmoothing.

Parameters

positions	reset the filters to the joint positions
velocities	reset the filters to the joint velocities
accelerations	(unused)

Returns

True if reset was successful

Implements online_signal_smoothing::SmoothingBaseClass.

Definition at line 334 of file acceleration_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/acceleration_filter.hpp
• moveit_core/online_signal_smoothing/src/acceleration_filter.cpp