online_signal_smoothing Namespace Reference

Classes
class	AccelerationLimitedPlugin
class	ButterworthFilter
class	ButterworthFilterPlugin
struct	CSCWrapper
	Wrapper struct to make memory management easier for using osqp's C sparse_matrix types. More...
struct	OSQPDataWrapper
	Wrapper struct to make memory management easier for using osqp's C API. More...
class	RuckigFilterPlugin
class	SmoothingBaseClass

Functions
	MOVEIT_STRUCT_FORWARD (OSQPDataWrapper)
rclcpp::Logger	getLogger ()
double	jointLimitAccelerationScalingFactor (const Eigen::VectorXd &accelerations, const moveit::core::JointBoundsVector &joint_bounds)
bool	updateData (const OSQPDataWrapperPtr &data, OSQPWorkspace *work, Eigen::SparseMatrix< double > &constraints_sparse, const Eigen::VectorXd &lower_bound, const Eigen::VectorXd &upper_bound)

Variables
constexpr double	COMMAND_DIFFERENCE_THRESHOLD = 1E-4
constexpr double	ALPHA_UPPER_BOUND = 1.0
constexpr double	ALPHA_LOWER_BOUND = 0.0

Function Documentation

getLogger()

rclcpp::Logger online_signal_smoothing::getLogger

(

)

Definition at line 43 of file acceleration_filter.cpp.

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jointLimitAccelerationScalingFactor()

double online_signal_smoothing::jointLimitAccelerationScalingFactor	(	const Eigen::VectorXd &	accelerations,
		const moveit::core::JointBoundsVector &	joint_bounds
	)

Definition at line 206 of file acceleration_filter.cpp.

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MOVEIT_STRUCT_FORWARD()

online_signal_smoothing::MOVEIT_STRUCT_FORWARD

(

OSQPDataWrapper

)

updateData()

bool online_signal_smoothing::updateData ( const OSQPDataWrapperPtr &  data, OSQPWorkspace *  work, Eigen::SparseMatrix< double > &  constraints_sparse, const Eigen::VectorXd &  lower_bound, const Eigen::VectorXd &  upper_bound  )

inline

Definition at line 233 of file acceleration_filter.cpp.

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Variable Documentation

ALPHA_LOWER_BOUND

constexpr double online_signal_smoothing::ALPHA_LOWER_BOUND = 0.0

constexpr

Definition at line 53 of file acceleration_filter.cpp.

ALPHA_UPPER_BOUND

constexpr double online_signal_smoothing::ALPHA_UPPER_BOUND = 1.0

constexpr

Definition at line 51 of file acceleration_filter.cpp.

COMMAND_DIFFERENCE_THRESHOLD

constexpr double online_signal_smoothing::COMMAND_DIFFERENCE_THRESHOLD = 1E-4

constexpr

Definition at line 49 of file acceleration_filter.cpp.