public void setOffsetFiltered(double offset) { this.offsetFiltered.reset(); this.offsetFiltered.set(offset); this.offset.set(offset); }
public void setOffsetFiltered(double offset) { this.offsetFiltered.reset(); this.offsetFiltered.set(offset); this.offset.set(offset); }
public void update(double currentPosition) { if (!hasBeenCalled.getBooleanValue()) { hasBeenCalled.set(true); set(currentPosition); } if (alphaVariable == null) { set(alpha * getDoubleValue() + (1.0 - alpha) * currentPosition); } else { set(alphaVariable.getDoubleValue() * getDoubleValue() + (1.0 - alphaVariable.getDoubleValue()) * currentPosition); } }
private void initializeAlphaFilter(double alphaFilterPosition) { alphaFilter_PositionValue.set(alphaFilterPosition); alphaFilter.set(0.0); previousClippedAlphaFilterValue.set(0.0); cLippedAlphaFilterValue.set(0.0); hasBeenCalled.set(false); }
/** * sets initials for correction and calculates error in past */ private void addNewExternalPose(TimeStampedTransform3D newPelvisPoseWithTime) { previousTranslationClippedAlphaValue.set(0.0); interpolationTranslationAlphaFilter.set(0.0); distanceTraveled.set(0.0); previousRotationClippedAlphaValue.set(0.0); interpolationRotationAlphaFilter.set(0.0); angleTraveled.set(0.0); calculateAndStoreErrorInPast(newPelvisPoseWithTime); interpolationRotationStartFrame.setAndUpdate(interpolatedRotationCorrectionFrame.getTransformToParent()); interpolationTranslationStartFrame.setAndUpdate(interpolatedTranslationCorrectionFrame.getTransformToParent()); }
sliderBoardConfigurationManager.setKnob(1, headYawPercentage, 0.0, 1.0); headYawPercentage.set(standPrepPercentage); alphaFilteredHeadYawPercentage.set(headYawPercentage.getDoubleValue()); sliderBoardConfigurationManager.setSlider(++sliderNumber, lowerHeadPitchPercentage, 0.0, 1.0); lowerHeadPitchPercentage.set(standPrepPercentage); alphaFilteredLowerHeadPitchYawPercentage.set(lowerHeadPitchPercentage.getDoubleValue()); sliderBoardConfigurationManager.setSlider(++sliderNumber, upperHeadPitchPercentage, 0.0, 1.0); upperHeadPitchPercentage.set(standPrepPercentage); alphaFilteredUpperHeadPitchPercentage.set(upperHeadPitchPercentage.getDoubleValue());
sliderBoardConfigurationManager.setKnob(1, headYawPercentage, 0.0, 1.0); headYawPercentage.set(standPrepPercentage); alphaFilteredHeadYawPercentage.set(headYawPercentage.getDoubleValue()); sliderBoardConfigurationManager.setSlider(++sliderNumber, lowerHeadPitchPercentage, 0.0, 1.0); lowerHeadPitchPercentage.set(standPrepPercentage); alphaFilteredLowerHeadPitchYawPercentage.set(lowerHeadPitchPercentage.getDoubleValue()); sliderBoardConfigurationManager.setSlider(++sliderNumber, upperHeadPitchPercentage, 0.0, 1.0); upperHeadPitchPercentage.set(standPrepPercentage); alphaFilteredUpperHeadPitchPercentage.set(upperHeadPitchPercentage.getDoubleValue());
sliderBoardConfigurationManager.setKnob(1, headYawPercentage, 0.0, 1.0); headYawPercentage.set(standPrepPercentage); alphaFilteredHeadYawPercentage.set(headYawPercentage.getDoubleValue()); sliderBoardConfigurationManager.setSlider(++sliderNumber, lowerHeadPitchPercentage, 0.0, 1.0); lowerHeadPitchPercentage.set(standPrepPercentage); alphaFilteredLowerHeadPitchYawPercentage.set(lowerHeadPitchPercentage.getDoubleValue()); sliderBoardConfigurationManager.setSlider(++sliderNumber, upperHeadPitchPercentage, 0.0, 1.0); upperHeadPitchPercentage.set(standPrepPercentage); alphaFilteredUpperHeadPitchPercentage.set(upperHeadPitchPercentage.getDoubleValue());