Add standalone version of LPF #222
Conversation
github-actions
bot
requested review from
bmagyar,
DasRoteSkelett,
destogl,
moriarty,
peterdavidfagan,
progtologist and
VX792
Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## ros2-master #222 +/- ##
===============================================
+ Coverage 50.41% 51.17% +0.76%
===============================================
Files 9 10 +1
Lines 486 510 +24
Branches 62 66 +4
===============================================
+ Hits 245 261 +16
- Misses 215 221 +6
- Partials 26 28 +2
Flags with carried forward coverage won't be shown. Click here to find out more.
|
|
@roncapat what do you think? |
| if (!this->configured_ || !lpf_ || !lpf_->is_configured()) | ||
| { | ||
| if (logger_) | ||
| RCLCPP_ERROR_SKIPFIRST_THROTTLE((*logger_), *clock_, 2000, "Filter is not configured"); |
There was a problem hiding this comment.
If the filter is not configured, i think it's better to throw an exception rather than continuing right?
| msg_filtered = b1_ * msg_old + a1_ * msg_filtered_old; | ||
| msg_filtered_old = msg_filtered; | ||
|
|
||
| // TODO(destogl): use wrenchMsgToEigen | ||
| msg_old[0] = data_in.wrench.force.x; | ||
| msg_old[1] = data_in.wrench.force.y; | ||
| msg_old[2] = data_in.wrench.force.z; | ||
| msg_old[3] = data_in.wrench.torque.x; | ||
| msg_old[4] = data_in.wrench.torque.y; | ||
| msg_old[5] = data_in.wrench.torque.z; | ||
|
|
||
| data_out.wrench.force.x = msg_filtered[0]; | ||
| data_out.wrench.force.y = msg_filtered[1]; | ||
| data_out.wrench.force.z = msg_filtered[2]; | ||
| data_out.wrench.torque.x = msg_filtered[3]; | ||
| data_out.wrench.torque.y = msg_filtered[4]; | ||
| data_out.wrench.torque.z = msg_filtered[5]; | ||
|
|
||
| // copy the header | ||
| data_out.header = data_in.header; |
There was a problem hiding this comment.
May be the update method specific to geometry_msgs Wrench should be removed?. It kinda has same content of templated one right?
There was a problem hiding this comment.
the math is the same, but here it uses the Eigen matrices to do the linear combination. this can't work with the templated method alone?
Replaces #192 and closes #164
Changes on top:
filterscontrol_toolboxnamespace.The filter plugins should still work as before without any changes (see the test files).