/** * @deprecated Use * {@link #createAlphaFilteredYoFrameVector2d(String, String, YoVariableRegistry, DoubleProvider, FrameTuple2DReadOnly)} * instead. */ @Deprecated public static AlphaFilteredYoFrameVector2d createAlphaFilteredYoFrameVector2d(String namePrefix, String nameSuffix, String description, YoVariableRegistry registry, DoubleProvider alpha, FrameTuple2DReadOnly unfilteredFrameTuple2D) { return new AlphaFilteredYoFrameVector2d(namePrefix, nameSuffix, registry, alpha, unfilteredFrameTuple2D); }
public static AlphaFilteredYoFrameVector2d createAlphaFilteredYoFrameVector2d(String namePrefix, String nameSuffix, YoVariableRegistry registry, DoubleYoVariable alpha, ReferenceFrame referenceFrame) { return createAlphaFilteredYoFrameVector2d(namePrefix, nameSuffix, "", registry, alpha, referenceFrame); }
public void update(FrameTuple2DReadOnly unfilteredFrameTuple2D) { checkReferenceFrameMatch(unfilteredFrameTuple2D); update((Tuple2DReadOnly) unfilteredFrameTuple2D); }
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout = 1000) public void testConsistencyWithAlphaFilteredYoVariable() { Random random = new Random(3453456); for (int i = 0; i < 100; i++) { double alpha = random.nextDouble(); YoVariableRegistry registry = new YoVariableRegistry("blop"); AlphaFilteredYoFrameVector2d filteredVector = new AlphaFilteredYoFrameVector2d("tested", "", registry, alpha, ReferenceFrame.getWorldFrame()); AlphaFilteredYoVariable xFiltered = new AlphaFilteredYoVariable("xRef", registry, alpha); AlphaFilteredYoVariable yFiltered = new AlphaFilteredYoVariable("yRef", registry, alpha); Vector2D unfilteredVector = new Vector2D(); for (int j = 0; j < 10; j++) { unfilteredVector.add(EuclidCoreRandomTools.nextVector2D(random, 0.0, 0.5)); filteredVector.update(unfilteredVector); xFiltered.update(unfilteredVector.getX()); yFiltered.update(unfilteredVector.getY()); EuclidCoreTestTools.assertTuple2DEquals(new Vector2D(xFiltered.getValue(), yFiltered.getValue()), filteredVector, EPSILON); } } } }
angularVelocity2d.setIncludingFrame(soleFrame, angularVelocity.getX(), angularVelocity.getY()); yoFootAngularVelocityFiltered.update(angularVelocity2d); yoFootAngularVelocityFiltered.getFrameTuple2dIncludingFrame(angularVelocity2d); yoFootAngularVelocityFiltered.getFrameTuple2dIncludingFrame(footAngularVelocityUnitVector); footAngularVelocityUnitVector.normalize(); yoAngularVelocityAroundLoR.set(yoFootAngularVelocityFiltered.length()); yoIsAngularVelocityAroundLoRPastThreshold.set(yoAngularVelocityAroundLoR.getDoubleValue() > yoAngularVelocityAroundLoRThreshold.getDoubleValue());
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); }
@Override public void reset() { yoLineOfRotation.setToNaN(); yoFootAngularVelocityFiltered.reset(); yoFootAngularVelocityFiltered.setToNaN(); yoCoRPositionFiltered.reset(); yoCoRPositionFiltered.setToNaN(); yoCoRVelocityFiltered.reset(); yoCoRVelocityFiltered.setToNaN(); yoAngleOfLoR.set(0.0); yoLoRAngularVelocityFiltered.set(Double.NaN); yoLoRAngularVelocityFiltered.reset(); yoAngularVelocityAroundLoR.set(Double.NaN); yoIsLoRStable.set(false); yoIsCoRStable.set(false); yoIsFootRotating.set(false); hasBeenInitialized.set(false); }
private AlphaFilteredYoFrameVector2d(String namePrefix, String nameSuffix, YoVariableRegistry registry, DoubleProvider alpha, ReferenceFrame referenceFrame, FrameTuple2DReadOnly unfilteredFrameTuple2D) { super(namePrefix, nameSuffix, referenceFrame, registry); alphaProvider = alpha; position = unfilteredFrameTuple2D; hasBeenCalled = new YoBoolean(namePrefix + nameSuffix + "HasBeenCalled", registry); reset(); }
public void update(double xUnfiltered, double yUnfiltered) { if (!hasBeenCalled.getValue()) { hasBeenCalled.set(true); set(xUnfiltered, yUnfiltered); } else { unfilteredVector2D.set(xUnfiltered, yUnfiltered); interpolate(unfilteredVector2D, this, alphaProvider.getValue()); } } }
public void update(FrameVector2d vector2dUnfiltered) { checkReferenceFrameMatch(vector2dUnfiltered); x.update(vector2dUnfiltered.getX()); y.update(vector2dUnfiltered.getY()); }
public void update(Tuple2DReadOnly unfilteredTuple2D) { update(unfilteredTuple2D.getX(), unfilteredTuple2D.getY()); }
/** * @deprecated Use * {@link #createAlphaFilteredYoFrameVector2d(String, String, YoVariableRegistry, double, FrameTuple2DReadOnly)} * instead. */ @Deprecated public static AlphaFilteredYoFrameVector2d createAlphaFilteredYoFrameVector2d(String namePrefix, String nameSuffix, YoVariableRegistry registry, double alpha, FrameTuple2DReadOnly unfilteredFrameTuple2D) { return new AlphaFilteredYoFrameVector2d(namePrefix, nameSuffix, registry, alpha, unfilteredFrameTuple2D); }
public static AlphaFilteredYoFrameVector2d createAlphaFilteredYoFrameVector2d(String namePrefix, String nameSuffix, YoVariableRegistry registry, DoubleYoVariable alpha, YoFrameVector2d unfilteredVector) { return createAlphaFilteredYoFrameVector2d(namePrefix, nameSuffix, "", registry, alpha, unfilteredVector); }
/** * @deprecated Use * {@link #createAlphaFilteredYoFrameVector2d(String, String, YoVariableRegistry, double, ReferenceFrame)} * instead. */ @Deprecated public static AlphaFilteredYoFrameVector2d createAlphaFilteredYoFrameVector2d(String namePrefix, String nameSuffix, YoVariableRegistry registry, double alpha, ReferenceFrame referenceFrame) { return new AlphaFilteredYoFrameVector2d(namePrefix, nameSuffix, registry, alpha, referenceFrame); }
/** * @deprecated Use * {@link #createAlphaFilteredYoFrameVector2d(String, String, YoVariableRegistry, DoubleProvider, FrameTuple2DReadOnly)} * instead. */ @Deprecated public static AlphaFilteredYoFrameVector2d createAlphaFilteredYoFrameVector2d(String namePrefix, String nameSuffix, YoVariableRegistry registry, DoubleProvider alpha, FrameTuple2DReadOnly unfilteredFrameTuple2D) { return createAlphaFilteredYoFrameVector2d(namePrefix, nameSuffix, "", registry, alpha, unfilteredFrameTuple2D); }
/** * @deprecated Use * {@link #createAlphaFilteredYoFrameVector2d(String, String, YoVariableRegistry, DoubleProvider, ReferenceFrame)} * instead. */ @Deprecated public static AlphaFilteredYoFrameVector2d createAlphaFilteredYoFrameVector2d(String namePrefix, String nameSuffix, String description, YoVariableRegistry registry, DoubleProvider alpha, ReferenceFrame referenceFrame) { return new AlphaFilteredYoFrameVector2d(namePrefix, nameSuffix, registry, alpha, referenceFrame); }
/** * @deprecated Use * {@link #createAlphaFilteredYoFrameVector2d(String, String, YoVariableRegistry, DoubleProvider, ReferenceFrame)} * instead. */ @Deprecated public static AlphaFilteredYoFrameVector2d createAlphaFilteredYoFrameVector2d(String namePrefix, String nameSuffix, YoVariableRegistry registry, DoubleProvider alpha, ReferenceFrame referenceFrame) { return createAlphaFilteredYoFrameVector2d(namePrefix, nameSuffix, "", registry, alpha, referenceFrame); }
public static AlphaFilteredYoFrameVector2d createAlphaFilteredYoFrameVector2d(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); AlphaFilteredYoFrameVector2d ret = new AlphaFilteredYoFrameVector2d(x, y, referenceFrame); return ret; }
double alpha = AlphaFilteredYoVariable.computeAlphaGivenBreakFrequencyProperly(freq, controllerDt); yoAngularVelocityAlphaFilter.set(alpha); yoFootAngularVelocityFiltered = AlphaFilteredYoFrameVector2d.createAlphaFilteredYoFrameVector2d(namePrefix + "AngularVelocityFiltered", "", generalDescription, registry, yoAngularVelocityAlphaFilter, soleFrame);
public static AlphaFilteredYoFrameVector2d createAlphaFilteredYoFrameVector2d(String namePrefix, String nameSuffix, String description, YoVariableRegistry registry, DoubleYoVariable alpha, ReferenceFrame referenceFrame) { AlphaFilteredYoVariable x = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), description, registry, alpha); AlphaFilteredYoVariable y = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), description, registry, alpha); AlphaFilteredYoFrameVector2d ret = new AlphaFilteredYoFrameVector2d(x, y, referenceFrame); return ret; }