moveit2
The MoveIt Motion Planning Framework for ROS 2.
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#include <butterworth_filter.h>
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 |
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SmoothingBaseClass () | |
virtual | ~SmoothingBaseClass () |
Definition at line 91 of file butterworth_filter.h.
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overridevirtual |
Smooth the command signals for all DOF
positions | array of joint position commands |
velocities | array of joint velocity commands |
accelerations | array of joint acceleration commands |
Implements online_signal_smoothing::SmoothingBaseClass.
Definition at line 117 of file butterworth_filter.cpp.
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overridevirtual |
Initialize the smoothing algorithm
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 |
Implements online_signal_smoothing::SmoothingBaseClass.
Definition at line 101 of file butterworth_filter.cpp.
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overridevirtual |
Reset to a given joint state
positions | reset the filters to these joint positions |
velocities | (unused) |
accelerations | (unused) |
Implements online_signal_smoothing::SmoothingBaseClass.
Definition at line 135 of file butterworth_filter.cpp.