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 (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
Public Member Functions inherited from online_signal_smoothing::SmoothingBaseClass
	SmoothingBaseClass ()
virtual	~SmoothingBaseClass ()

Detailed Description

Definition at line 91 of file butterworth_filter.h.

Member Function Documentation

doSmoothing()

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

overridevirtual

Smooth the command signals for all DOF

Parameters

positions	array of joint position commands
velocities	array of joint velocity commands
accelerations	array of joint acceleration commands

Returns

True if initialization was successful

Implements online_signal_smoothing::SmoothingBaseClass.

Definition at line 117 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 101 of file butterworth_filter.cpp.

reset()

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

overridevirtual

Reset to a given joint state

Parameters

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

Returns

True if reset was successful

Implements online_signal_smoothing::SmoothingBaseClass.

Definition at line 135 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