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The MoveIt Motion Planning Framework for ROS 2.
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online_signal_smoothing::ButterworthFilterPlugin Class Reference

#include <butterworth_filter.h>

Inheritance diagram for online_signal_smoothing::ButterworthFilterPlugin:
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Collaboration diagram for online_signal_smoothing::ButterworthFilterPlugin:
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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
 
- 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
positionsarray of joint position commands
velocitiesarray of joint velocity commands
accelerationsarray 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
nodeROS node, used for parameter retrieval
robot_modeltypically used to retrieve vel/accel/jerk limits
num_jointsnumber 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
positionsreset 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.


The documentation for this class was generated from the following files: