How to use

DoubleProvider

in

us.ihmc.yoVariables.providers

@Override
public double getProportionalGain()
{
 return proportionalGain.getValue();
}

@Override
public double getPositionDeadband()
{
 return deadband.getValue();
}

@Override
public double getMaximumFeedback()
{
 return maxOutput.getValue();
}

@Override
public double getIntegralGain()
{
 return integralGain.getValue();
}

@Override
public double getTime()
{
 return timeProvider.getValue();
}

@Override
public double getTimeInCurrentState()
{
 return timeProvider.getValue() - timeOfLastStateChange;
}

@Override
public double getTime()
{
 return timeProvider.getValue();
}

  @Override
  public double getPositionDeadband()
  {
   return positionDeadband.getValue();
  }
}

@Override
public double getIntegralLeakRatio()
{
 return integralLeakRatio.getValue();
}

@Override
public void notifyStateChanged()
{
 timeOfLastStateChange = timeProvider.getValue();
}

  @Override
  public double getStictionMagnitude()
  {
   return stictionValue.getValue();
  }
}

  @Override
  public double getDerivativeGain()
  {
   return derivativeGain.getValue();
  }
};

@Override
public double getProportionalGain()
{
 return proportionalGain.getValue();
}

@Override
public double getDerivativeGain()
{
 return derivativeGain.getValue();
}

@Override
public double getMaxIntegralError()
{
 return maxIntegralError.getValue();
}

@Override
public void setX(double x)
{
 if (resetX)
 {
   this.x = x;
   resetX = false;
 }
 else
 {
   this.x = alpha.getValue() * this.x + (1.0 - alpha.getValue()) * x;
 }
}

@Override
public void compute(double x)
{
 double x_n = 1.0;
 value = 0.0;
 for (int index = 0; index < coefficients.size(); index++)
 {
   value = value + coefficients.get(index).getValue() * x_n;
   x_n = x_n * x;
 }
}

public void initialize()
{
 currentTime.set(0.0);
 this.trajectoryTime.set(trajectoryTimeProvider.getValue());
 polynomial.setQuadratic(0.0, trajectoryTime.getDoubleValue(), initialPositionProvider.getValue(), initialVelocityProvider.getValue(),
    finalPositionProvider.getValue());
}

@Override
public void notifyStateChanged()
{
 timeOfLastStateChange.set(timeProvider.getValue());
}

public void initialize()
{
 currentTime.set(0.0);
 this.trajectoryTime.set(trajectoryTimeProvider.getValue());
 polynomial.setLinear(0.0, initialPositionProvider.getValue(), velocityProvider.getValue());
}