moveit2
The MoveIt Motion Planning Framework for ROS 2.
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Classes | Functions | Variables
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.