stomp_moveit::filters Namespace Reference

Functions
FilterFn	simpleSmoothingMatrix (size_t num_timesteps)
FilterFn	enforcePositionBounds (const moveit::core::JointModelGroup *group)
FilterFn	chain (const std::vector< FilterFn > &filter_functions)

Function Documentation

chain()

FilterFn stomp_moveit::filters::chain

(

const std::vector< FilterFn > &

filter_functions

)

Helper function for applying multiple trajectory update filters in sequential order.

Parameters

filter_functions

The ordered vector of filter functions to apply

Returns

The filter function applying all the configured filters in sequence

Definition at line 108 of file filter_functions.hpp.

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enforcePositionBounds()

FilterFn stomp_moveit::filters::enforcePositionBounds

(

const moveit::core::JointModelGroup *

group

)

Creates a filter function that clips all waypoint positions using the joint bounds of a given JointModelGroup.

Parameters

group

The JointModelGroup providing the joint limits

Returns

The filter function for enforcing joint limits

Definition at line 86 of file filter_functions.hpp.

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simpleSmoothingMatrix()

FilterFn stomp_moveit::filters::simpleSmoothingMatrix

(

size_t

num_timesteps

)

Creates a filter function that applies Stomp's smoothing matrix for the whole trajectory.

Parameters

num_timesteps

The number of trajectory waypoints configured for STOMP

Returns

The smoothing filter function to be used for the STOMP task

Definition at line 63 of file filter_functions.hpp.

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