@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout=300000) public void testDelayedYoVariableZeroTickDelay() { YoVariableRegistry registry = new YoVariableRegistry("registry"); YoDouble variableToDelay = new YoDouble("variableToDelay", registry); int ticksToDelay = 0; variableToDelay.set(0.0); DelayedYoDouble delayedYoVariable = new DelayedYoDouble("delayedVariable" + ticksToDelay, "", variableToDelay, ticksToDelay, registry); assertEquals(delayedYoVariable.getDoubleValue(), 0.0, 1e-7); variableToDelay.set(1.0); delayedYoVariable.update(); assertEquals(delayedYoVariable.getDoubleValue(), 1.0, 1e-7); variableToDelay.set(2.0); delayedYoVariable.update(); assertEquals(delayedYoVariable.getDoubleValue(), 2.0, 1e-7); variableToDelay.set(3.0); delayedYoVariable.update(); assertEquals(delayedYoVariable.getDoubleValue(), 3.0, 1e-7); delayedYoVariable.update(); assertEquals(delayedYoVariable.getDoubleValue(), 3.0, 1e-7); delayedYoVariable.update(); assertEquals(delayedYoVariable.getDoubleValue(), 3.0, 1e-7); delayedYoVariable.update(); assertEquals(delayedYoVariable.getDoubleValue(), 3.0, 1e-7); }
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout=300000) public void testDelayedYoVariableOneTickDelay() { YoVariableRegistry registry = new YoVariableRegistry("registry"); YoDouble variableToDelay = new YoDouble("variableToDelay", registry); int ticksToDelay = 1; variableToDelay.set(0.0); DelayedYoDouble delayedYoVariable = new DelayedYoDouble("delayedVariable" + ticksToDelay, "", variableToDelay, ticksToDelay, registry); assertEquals(delayedYoVariable.getDoubleValue(), 0.0, 1e-7); variableToDelay.set(1.0); delayedYoVariable.update(); assertEquals(delayedYoVariable.getDoubleValue(), 0.0, 1e-7); variableToDelay.set(2.0); delayedYoVariable.update(); assertEquals(delayedYoVariable.getDoubleValue(), 1.0, 1e-7); variableToDelay.set(3.0); delayedYoVariable.update(); assertEquals(delayedYoVariable.getDoubleValue(), 2.0, 1e-7); delayedYoVariable.update(); assertEquals(delayedYoVariable.getDoubleValue(), 3.0, 1e-7); delayedYoVariable.update(); assertEquals(delayedYoVariable.getDoubleValue(), 3.0, 1e-7); delayedYoVariable.update(); assertEquals(delayedYoVariable.getDoubleValue(), 3.0, 1e-7); }
assertEquals(delayedYoVariable.getDoubleValue(), firstValue, 1e-7); assertEquals(delayedYoVariable.getDoubleValue(), firstValue, 1e-7); assertEquals(delayedYoVariable.getDoubleValue(), valuesToSet[i - ticksToDelay], 1e-7);
tau = delayedJointTorque.getDoubleValue();
referenceSignal.set(sine); delayedSignal.update(); noisyDelayedSignal.set(delayedSignal.getDoubleValue()); noisyDelayedSignal.add(0.5 * (random.nextDouble() - 0.5) + 1.5); delayEstimatorBetweenTwoSignals.update();
referenceSignal.set(sine); delayedSignal.update(); shiftedDelayedSignal.set(delayedSignal.getDoubleValue() + 2.5); delayEstimatorBetweenTwoSignals.update();