public static DeadzoneYoFrameVector createDeadzoneYoFrameVector(String namePrefix, String nameSuffix, YoVariableRegistry registry, DoubleYoVariable deadzoneSize, ReferenceFrame referenceFrame) { DeadzoneYoVariable x = new DeadzoneYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), deadzoneSize, registry); DeadzoneYoVariable y = new DeadzoneYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), deadzoneSize, registry); DeadzoneYoVariable z = new DeadzoneYoVariable(YoFrameVariableNameTools.createZName(namePrefix, nameSuffix), deadzoneSize, registry); DeadzoneYoFrameVector ret = new DeadzoneYoFrameVector(x, y, z, referenceFrame); return ret; }
public static DeadzoneYoFrameVector createDeadzoneYoFrameVector(String namePrefix, String nameSuffix, YoVariableRegistry registry, YoDouble deadzoneSize, ReferenceFrame referenceFrame) { DeadzoneYoVariable x = new DeadzoneYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), deadzoneSize, registry); DeadzoneYoVariable y = new DeadzoneYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), deadzoneSize, registry); DeadzoneYoVariable z = new DeadzoneYoVariable(YoFrameVariableNameTools.createZName(namePrefix, nameSuffix), deadzoneSize, registry); DeadzoneYoFrameVector ret = new DeadzoneYoFrameVector(x, y, z, referenceFrame); return ret; }
public static DeadzoneYoFrameVector createDeadzoneYoFrameVector(String namePrefix, String nameSuffix, YoVariableRegistry registry, YoDouble deadzoneSize, YoFrameTuple3D rawTuple) { DeadzoneYoVariable x = new DeadzoneYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), rawTuple.getYoX(), deadzoneSize, registry); DeadzoneYoVariable y = new DeadzoneYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), rawTuple.getYoY(), deadzoneSize, registry); DeadzoneYoVariable z = new DeadzoneYoVariable(YoFrameVariableNameTools.createZName(namePrefix, nameSuffix), rawTuple.getYoZ(), deadzoneSize, registry); DeadzoneYoFrameVector ret = new DeadzoneYoFrameVector(x, y, z, rawTuple.getReferenceFrame()); return ret; }
public static DeadzoneYoFrameVector createDeadzoneYoFrameVector(String namePrefix, String nameSuffix, YoVariableRegistry registry, DoubleYoVariable deadzoneSize, YoFrameTuple<?, ?> rawTuple) { DeadzoneYoVariable x = new DeadzoneYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), rawTuple.getYoX(), deadzoneSize, registry); DeadzoneYoVariable y = new DeadzoneYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), rawTuple.getYoY(), deadzoneSize, registry); DeadzoneYoVariable z = new DeadzoneYoVariable(YoFrameVariableNameTools.createZName(namePrefix, nameSuffix), rawTuple.getYoZ(), deadzoneSize, registry); DeadzoneYoFrameVector ret = new DeadzoneYoFrameVector(x, y, z, rawTuple.getReferenceFrame()); return ret; }
public static void main(String[] args) { YoVariableRegistry registry = new YoVariableRegistry("test"); DoubleYoVariable deadzoneSize = new DoubleYoVariable("deadzoneSize", registry); DoubleYoVariable input = new DoubleYoVariable("input", registry); deadzoneSize.set(2.0); DeadzoneYoVariable testDeadzone = new DeadzoneYoVariable("testDeadZone", input,deadzoneSize,registry); for(int i = -50; i < 51; i++) { input.set((double)i); testDeadzone.update(); System.out.println("//////////////////////////"); System.out.println("uncorrected = " + (double)i); System.out.println("corrected = " + testDeadzone.getDoubleValue()); } System.out.println("done"); }
public static void main(String[] args) { YoVariableRegistry registry = new YoVariableRegistry("test"); YoDouble deadzoneSize = new YoDouble("deadzoneSize", registry); YoDouble input = new YoDouble("input", registry); deadzoneSize.set(2.0); DeadzoneYoVariable testDeadzone = new DeadzoneYoVariable("testDeadZone", input,deadzoneSize,registry); for(int i = -50; i < 51; i++) { input.set((double)i); testDeadzone.update(); System.out.println("//////////////////////////"); System.out.println("uncorrected = " + (double)i); System.out.println("corrected = " + testDeadzone.getDoubleValue()); } System.out.println("done"); }
goalTranslationRawZ = new DoubleYoVariable("goalTranslationRawZ", registry); goalTranslationWithDeadzoneX = new DeadzoneYoVariable("goalTranslationWithDeadzoneX", goalTranslationRawX, xDeadzoneSize, registry); goalTranslationWithDeadzoneY = new DeadzoneYoVariable("goalTranslationWithDeadzoneY", goalTranslationRawY, yDeadzoneSize, registry); goalTranslationWithDeadzoneZ = new DeadzoneYoVariable("goalTranslationWithDeadzoneZ", goalTranslationRawZ, zDeadzoneSize, registry); goalYawWithDeadZone = new DeadzoneYoVariable("goalYawWithDeadZone", goalYawRaw, yawDeadzoneSize, registry);
double deadzone = 2.0; deadzoneSize.set(deadzone); DeadzoneYoVariable testDeadzone = new DeadzoneYoVariable("testDeadZone", input , deadzoneSize, registry);