5 namespace configuration
8 const uint8_t fastEnable)
9 : sincFilterSize_(sincFilterSize), chopEnable_(chopEnable), skipEnable_(skipEnable), fastEnable_(fastEnable)
16 std::string local_key;
17 local_key = key +
"/sinc_filter_size";
18 if (nh->hasParam(local_key))
21 nh->getParam(local_key, sinc_filter_size);
25 local_key = key +
"/chop_enable";
26 if (nh->hasParam(local_key))
29 nh->getParam(local_key, chop_enable);
33 local_key = key +
"/fir_disable";
34 if (nh->hasParam(local_key))
37 nh->getParam(local_key, skip_enable);
41 local_key = key +
"/fast_enable";
42 if (nh->hasParam(local_key))
45 nh->getParam(local_key, fast_enable);
ForceTorqueFilter()=default
Default constructor.
uint16_t sincFilterSize_
The sincFilterSize variable.
std::shared_ptr< ros::NodeHandle > NodeHandlePtr
void print() const
Prints the existing Filter settings.
uint8_t skipEnable_
The skipEnable flag.
#define ROS_INFO_STREAM(args)
bool load(const std::string &key, NodeHandlePtr nh)
Loads the force torque filter from the parameter server.
uint8_t fastEnable_
The fastEnable flag.
uint8_t chopEnable_
The chopEnable flag.