online_signal_smoothing::SmoothingBaseClass Class Reference

#include <smoothing_base_class.h>

Inheritance diagram for online_signal_smoothing::SmoothingBaseClass:

Public Member Functions
	SmoothingBaseClass ()
virtual	~SmoothingBaseClass ()
virtual bool	initialize (rclcpp::Node::SharedPtr node, moveit::core::RobotModelConstPtr robot_model, size_t num_joints)=0
virtual bool	doSmoothing (Eigen::VectorXd &positions, Eigen::VectorXd &velocities, Eigen::VectorXd &accelerations)=0
virtual bool	reset (const Eigen::VectorXd &positions, const Eigen::VectorXd &velocities, const Eigen::VectorXd &accelerations)=0

Detailed Description

Definition at line 58 of file smoothing_base_class.h.

Constructor & Destructor Documentation

SmoothingBaseClass()

online_signal_smoothing::SmoothingBaseClass::SmoothingBaseClass ( )

default

~SmoothingBaseClass()

online_signal_smoothing::SmoothingBaseClass::~SmoothingBaseClass ( )

virtualdefault

Member Function Documentation

doSmoothing()

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

pure virtual

Smooth an array of joint position deltas

Parameters

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

Returns

True if initialization was successful

Implemented in online_signal_smoothing::AccelerationLimitedPlugin, online_signal_smoothing::ButterworthFilterPlugin, and online_signal_smoothing::RuckigFilterPlugin.

initialize()

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

pure virtual

Initialize the smoothing algorithm

Parameters

node	ROS node, typically 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

Implemented in online_signal_smoothing::AccelerationLimitedPlugin, online_signal_smoothing::ButterworthFilterPlugin, and online_signal_smoothing::RuckigFilterPlugin.

reset()

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

pure virtual

Reset to a given joint state

Parameters

positions	reset the filters to these joint positions
velocities	reset the filters to these joint velocities (if applicable)
accelerations	reset the filters to these joint accelerations (if applicable)

Returns

True if reset was successful

Implemented in online_signal_smoothing::AccelerationLimitedPlugin, online_signal_smoothing::ButterworthFilterPlugin, and online_signal_smoothing::RuckigFilterPlugin.

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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/smoothing_base_class.h
• moveit_core/online_signal_smoothing/src/smoothing_base_class.cpp