online_signal_smoothing Namespace Reference

Classes
class	AccelerationLimitedPlugin
class	ButterworthFilter
class	ButterworthFilterPlugin
class	RuckigFilterPlugin
class	SmoothingBaseClass
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. On OSQP v0.6.x, the aggregated OSQPData struct is populated in the constructor and passed as a single pointer to osqp_setup. On OSQP v1.0+, that aggregate no longer exists — matrices/vectors are passed directly to osqp_setup — but this wrapper still owns the Eigen-backed memory for P, A, q, l, u so the solver's borrowed pointers stay alive across the object's lifetime. More...

Typedefs
using	OSQPInt = c_int
using	OSQPCscMatrix = csc

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 *solver, 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

Typedef Documentation

OSQPCscMatrix

using online_signal_smoothing::OSQPCscMatrix = csc

Definition at line 47 of file acceleration_filter.cpp.

OSQPInt

using online_signal_smoothing::OSQPInt = c_int

Definition at line 46 of file acceleration_filter.cpp.

Function Documentation

getLogger()

rclcpp::Logger online_signal_smoothing::getLogger

(

)

Definition at line 50 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 258 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 * solver, Eigen::SparseMatrix< double > & constraints_sparse, const Eigen::VectorXd & lower_bound, const Eigen::VectorXd & upper_bound )

inline

Definition at line 290 of file acceleration_filter.cpp.

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Variable Documentation

ALPHA_LOWER_BOUND

double online_signal_smoothing::ALPHA_LOWER_BOUND = 0.0

constexpr

Definition at line 60 of file acceleration_filter.cpp.

ALPHA_UPPER_BOUND

double online_signal_smoothing::ALPHA_UPPER_BOUND = 1.0

constexpr

Definition at line 58 of file acceleration_filter.cpp.

COMMAND_DIFFERENCE_THRESHOLD

double online_signal_smoothing::COMMAND_DIFFERENCE_THRESHOLD = 1E-4

constexpr

Definition at line 56 of file acceleration_filter.cpp.