/** * @deprecated Use * {@link #AlphaFilteredYoFramePoint(String, String, YoVariableRegistry, double, ReferenceFrame)} * instead. */ @Deprecated public static AlphaFilteredYoFramePoint createAlphaFilteredYoFramePoint(String namePrefix, String nameSuffix, YoVariableRegistry registry, double alpha, ReferenceFrame referenceFrame) { return new AlphaFilteredYoFramePoint(namePrefix, nameSuffix, registry, alpha, referenceFrame); }
public void update(FrameTuple3DReadOnly unfilteredFrameTuple3D) { checkReferenceFrameMatch(unfilteredFrameTuple3D); update((Tuple3DReadOnly) unfilteredFrameTuple3D); }
private AlphaFilteredYoFramePoint(String namePrefix, String nameSuffix, YoVariableRegistry registry, DoubleProvider alpha, ReferenceFrame referenceFrame, FrameTuple3DReadOnly unfilteredFrameTuple3D) { super(namePrefix, nameSuffix, referenceFrame, registry); alphaProvider = alpha; position = unfilteredFrameTuple3D; hasBeenCalled = new YoBoolean(namePrefix + nameSuffix + "HasBeenCalled", registry); reset(); }
YoVariableRegistry registry = new YoVariableRegistry("blop"); AlphaFilteredYoFramePoint filteredPoint = new AlphaFilteredYoFramePoint("tested", "", registry, alpha, ReferenceFrame.getWorldFrame()); AlphaFilteredYoVariable xFiltered = new AlphaFilteredYoVariable("xRef", registry, alpha); AlphaFilteredYoVariable yFiltered = new AlphaFilteredYoVariable("yRef", registry, alpha); filteredPoint.update(unfilteredPoint); xFiltered.update(unfilteredPoint.getX()); yFiltered.update(unfilteredPoint.getY());
private void updateLocalBaseFrame() { originalBasePose.setToZero(originalBaseParentJointFrame); originalBasePose.changeFrame(worldFrame); originalBasePose.getPoseIncludingFrame(baseParentJointFramePosition, baseParentJointFrameOrientation); yoBaseParentJointFrameOrientation.set(baseParentJointFrameOrientation); yoBaseParentJointFramePosition.set(baseParentJointFramePosition); yoBaseParentJointFrameOrientationFiltered.update(); yoBaseParentJointFramePositionFiltered.update(); yoBaseParentJointFrameOrientationFiltered.getFrameOrientationIncludingFrame(baseParentJointFrameOrientation); yoBaseParentJointFramePositionFiltered.getFrameTupleIncludingFrame(baseParentJointFramePosition); localBaseParentJointFrame.setPoseAndUpdate(baseParentJointFramePosition, baseParentJointFrameOrientation); updateFrames(); }
public void update() { if (position == null) { throw new NullPointerException(getClass().getSimpleName() + " must be constructed with a non null " + "position variable to call update(), otherwise use update(double)"); } update(position); }
public void update(double xUnfiltered, double yUnfiltered, double zUnfiltered) { if (!hasBeenCalled.getValue()) { hasBeenCalled.set(true); set(xUnfiltered, yUnfiltered, zUnfiltered); } else { unfilteredPoint3D.set(xUnfiltered, yUnfiltered, zUnfiltered); interpolate(unfilteredPoint3D, this, alphaProvider.getValue()); } } }
public void update(FramePoint pointUnfiltered) { checkReferenceFrameMatch(pointUnfiltered); x.update(pointUnfiltered.getX()); y.update(pointUnfiltered.getY()); z.update(pointUnfiltered.getZ()); }
copFiltered = AlphaFilteredYoFramePoint.createAlphaFilteredYoFramePoint(namePrefix + "CoPFiltered", "", registry, copAlpha, worldFrame);
public void update(Tuple3DReadOnly unfilteredTuple3D) { update(unfilteredTuple3D.getX(), unfilteredTuple3D.getY(), unfilteredTuple3D.getZ()); }
yoBaseParentJointFramePositionFiltered = AlphaFilteredYoFramePoint.createAlphaFilteredYoFramePoint(namePrefix + "BaseParentJointFrameFiltered", "", registry, alphaBaseParentJointPose, yoBaseParentJointFramePosition); yoBaseParentJointFrameOrientationFiltered = new AlphaFilteredYoFrameQuaternion(namePrefix + "BaseParentJointFrameFiltered", "",
/** * @deprecated Use * {@link #AlphaFilteredYoFramePoint(String, String, YoVariableRegistry, DoubleProvider, ReferenceFrame)} * instead. */ @Deprecated public static AlphaFilteredYoFramePoint createAlphaFilteredYoFramePoint(String namePrefix, String nameSuffix, YoVariableRegistry registry, DoubleProvider alpha, ReferenceFrame referenceFrame) { return new AlphaFilteredYoFramePoint(namePrefix, nameSuffix, registry, alpha, referenceFrame); }
private void setLocalBaseFrameToActualAndResetFilters() { yoBaseParentJointFrameOrientationFiltered.reset(); yoBaseParentJointFramePositionFiltered.reset(); updateLocalBaseFrame(); }
/** * @deprecated Use * {@link #AlphaFilteredYoFramePoint(String, String, YoVariableRegistry, double, FrameTuple3DReadOnly)} * instead. */ @Deprecated public static AlphaFilteredYoFramePoint createAlphaFilteredYoFramePoint(String namePrefix, String nameSuffix, YoVariableRegistry registry, double alpha, FrameTuple3DReadOnly unfilteredFrameTuple3D) { return new AlphaFilteredYoFramePoint(namePrefix, nameSuffix, registry, alpha, unfilteredFrameTuple3D); }
@Override public void reset() { copFiltered.reset(); footRotating.set(false); if (yoLineOfRotation != null) { yoLineOfRotation.setToNaN(); } if (yoPlanePoint != null) { yoPlanePoint.setToNaN(); } if (yoPlaneNormal != null) { yoPlaneNormal.setToNaN(); } }
/** * @deprecated Use * {@link #AlphaFilteredYoFramePoint(String, String, YoVariableRegistry, DoubleProvider, FrameTuple3DReadOnly)} * instead. */ @Deprecated public static AlphaFilteredYoFramePoint createAlphaFilteredYoFramePoint(String namePrefix, String nameSuffix, YoVariableRegistry registry, DoubleProvider alpha, FrameTuple3DReadOnly unfilteredFrameTuple3D) { return new AlphaFilteredYoFramePoint(namePrefix, nameSuffix, registry, alpha, unfilteredFrameTuple3D); }
public static AlphaFilteredYoFramePoint createAlphaFilteredYoFramePoint(String namePrefix, String nameSuffix, YoVariableRegistry registry, double alpha, ReferenceFrame referenceFrame) { // alpha is a double AlphaFilteredYoVariable x = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry, alpha); AlphaFilteredYoVariable y = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry, alpha); AlphaFilteredYoVariable z = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createZName(namePrefix, nameSuffix), registry, alpha); AlphaFilteredYoFramePoint ret = new AlphaFilteredYoFramePoint(x, y, z, referenceFrame); return ret; }
public static AlphaFilteredYoFramePoint createAlphaFilteredYoFramePoint(String namePrefix, String nameSuffix, YoVariableRegistry registry, DoubleYoVariable alpha, ReferenceFrame referenceFrame) { // alpha is a double AlphaFilteredYoVariable x = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry, alpha); AlphaFilteredYoVariable y = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry, alpha); AlphaFilteredYoVariable z = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createZName(namePrefix, nameSuffix), registry, alpha); AlphaFilteredYoFramePoint ret = new AlphaFilteredYoFramePoint(x, y, z, referenceFrame); return ret; }
public static AlphaFilteredYoFramePoint createAlphaFilteredYoFramePoint(String namePrefix, String nameSuffix, YoVariableRegistry registry, double alpha, YoFramePoint unfilteredPoint) { // alpha is a double AlphaFilteredYoVariable x = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry, alpha, unfilteredPoint.getYoX()); AlphaFilteredYoVariable y = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry, alpha, unfilteredPoint.getYoY()); AlphaFilteredYoVariable z = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createZName(namePrefix, nameSuffix), registry, alpha, unfilteredPoint.getYoZ()); AlphaFilteredYoFramePoint ret = new AlphaFilteredYoFramePoint(x, y, z, unfilteredPoint.getReferenceFrame()); return ret; }