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What does filter use for joint_trajectory_action_controller

asked 2013-06-03 08:09:29 -0500

AdrianPeng gravatar image

updated 2014-11-22 17:05:19 -0500

ngrennan gravatar image

Hi,

I am reading joint_trajectory_action_controller.cpp in robot_mechanism_controllers. Following code is about output filter setup.

// Output filters
output_filters_.resize(joints_.size());
for (size_t i = 0; i < joints_.size(); ++i)
{
  std::string p = "output_filters/" + joints_[i]->joint_->name;
  if (node_.hasParam(p))
  {
    output_filters_[i].reset(new filters::FilterChain<double>("double"));
    if (!output_filters_[i]->configure(node_.resolveName(p)))
      output_filters_[i].reset();
  }
}

What does filter use for the controller?

Thanks for any help in advance!

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answered 2013-06-03 22:01:30 -0500

Adolfo Rodriguez T gravatar image

You can (optionally) setup a filter chain for individual joints. Before control commands leave the controller, they go through the filter chain for post-processing. You can register any filter that complies with the FilterChain<double> interface. See the filters package for more information.

By default no filters are used.

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Asked: 2013-06-03 08:09:29 -0500

Seen: 64 times

Last updated: Jun 03 '13