-
Notifications
You must be signed in to change notification settings - Fork 508
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Merge branch 'main' into andyz/ruckig_improvements
- Loading branch information
Showing
44 changed files
with
1,075 additions
and
546 deletions.
There are no files selected for viewing
This file was deleted.
Oops, something went wrong.
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file was deleted.
Oops, something went wrong.
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,7 @@ | ||
<library path="moveit_butterworth_filter"> | ||
<class type="online_signal_smoothing::ButterworthFilterPlugin" base_class_type="online_signal_smoothing::SmoothingBaseClass"> | ||
<description> | ||
Simple Butterworth 1st order lowpass filter that only has one tuneable parameter and does not overshoot. | ||
</description> | ||
</class> | ||
</library> |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,54 @@ | ||
# Base class | ||
set(SMOOTHING_BASE_LIB moveit_smoothing_base) | ||
add_library(${SMOOTHING_BASE_LIB} SHARED | ||
src/smoothing_base_class.cpp | ||
) | ||
include(GenerateExportHeader) | ||
generate_export_header(${SMOOTHING_BASE_LIB}) | ||
target_include_directories(${SMOOTHING_BASE_LIB} PUBLIC | ||
$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}> | ||
) | ||
set_target_properties(${SMOOTHING_BASE_LIB} PROPERTIES VERSION | ||
"${${PROJECT_NAME}_VERSION}" | ||
) | ||
ament_target_dependencies(${SMOOTHING_BASE_LIB} | ||
rclcpp | ||
) | ||
|
||
# Plugin implementations | ||
set(BUTTERWORTH_FILTER_LIB moveit_butterworth_filter) | ||
add_library(${BUTTERWORTH_FILTER_LIB} SHARED | ||
src/butterworth_filter.cpp | ||
) | ||
generate_export_header(${BUTTERWORTH_FILTER_LIB}) | ||
target_include_directories(${BUTTERWORTH_FILTER_LIB} PUBLIC | ||
$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}> | ||
) | ||
set_target_properties(${BUTTERWORTH_FILTER_LIB} PROPERTIES VERSION | ||
"${${PROJECT_NAME}_VERSION}" | ||
) | ||
target_link_libraries(${BUTTERWORTH_FILTER_LIB} | ||
${SMOOTHING_BASE_LIB} | ||
moveit_robot_model | ||
) | ||
ament_target_dependencies(${BUTTERWORTH_FILTER_LIB} | ||
srdfdom # include dependency from moveit_robot_model | ||
) | ||
|
||
# Installation | ||
|
||
install(DIRECTORY include/ DESTINATION include) | ||
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${SMOOTHING_BASE_LIB}_export.h DESTINATION include) | ||
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${BUTTERWORTH_FILTER_LIB}_export.h DESTINATION include) | ||
|
||
# Testing | ||
|
||
if(BUILD_TESTING) | ||
find_package(ament_lint_auto REQUIRED) | ||
find_package(ament_cmake_gtest REQUIRED) | ||
find_package(ros_testing REQUIRED) | ||
|
||
# Lowpass filter unit test | ||
ament_add_gtest(test_butterworth_filter test/test_butterworth_filter.cpp) | ||
target_link_libraries(test_butterworth_filter ${BUTTERWORTH_FILTER_LIB}) | ||
endif() |
Oops, something went wrong.