public static RateLimitedYoFrameVector2d createRateLimitedYoFrameVector2d(String namePrefix, String nameSuffix, YoVariableRegistry registry, YoDouble maxRate, double dt, ReferenceFrame referenceFrame) { RateLimitedYoVariable x = new RateLimitedYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry, maxRate, dt); RateLimitedYoVariable y = new RateLimitedYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry, maxRate, dt); RateLimitedYoFrameVector2d ret = new RateLimitedYoFrameVector2d(x, y, referenceFrame); return ret; }
public static BetaFilteredYoFrameVector2d createBetaFilteredYoFrameVector2d(String namePrefix, String nameSuffix, YoVariableRegistry registry, int beta, ReferenceFrame referenceFrame) { // beta is a int BetaFilteredYoVariable x = new BetaFilteredYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry, beta); BetaFilteredYoVariable y = new BetaFilteredYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry, beta); BetaFilteredYoFrameVector2d ret = new BetaFilteredYoFrameVector2d(x, y, referenceFrame); return ret; }
public static BetaFilteredYoFramePoint2d createBetaFilteredYoFramePoint2d(String namePrefix, String nameSuffix, YoVariableRegistry registry, int beta, ReferenceFrame referenceFrame) { // beta is a int BetaFilteredYoVariable x = new BetaFilteredYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry, beta); BetaFilteredYoVariable y = new BetaFilteredYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry, beta); BetaFilteredYoFramePoint2d ret = new BetaFilteredYoFramePoint2d(x, y, referenceFrame); return ret; }
public static RateLimitedYoFrameVector createRateLimitedYoFrameVector(String namePrefix, String nameSuffix, YoVariableRegistry registry, double maxRate, double dt, ReferenceFrame referenceFrame) { // alpha is a double RateLimitedYoVariable x = new RateLimitedYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry, maxRate, dt); RateLimitedYoVariable y = new RateLimitedYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry, maxRate, dt); RateLimitedYoVariable z = new RateLimitedYoVariable(YoFrameVariableNameTools.createZName(namePrefix, nameSuffix), registry, maxRate, dt); RateLimitedYoFrameVector ret = new RateLimitedYoFrameVector(x, y, z, referenceFrame); return ret; }
public static FilteredVelocityYoFrameVector createFilteredVelocityYoFrameVector(String namePrefix, String nameSuffix, DoubleYoVariable alpha, double dt, YoVariableRegistry registry, ReferenceFrame referenceFrame) { FilteredVelocityYoVariable xDot = new FilteredVelocityYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), "", alpha, dt, registry); FilteredVelocityYoVariable yDot = new FilteredVelocityYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), "", alpha, dt, registry); FilteredVelocityYoVariable zDot = new FilteredVelocityYoVariable(YoFrameVariableNameTools.createZName(namePrefix, nameSuffix), "", alpha, dt, registry); FilteredVelocityYoFrameVector ret = new FilteredVelocityYoFrameVector(xDot, yDot, zDot, alpha, dt, registry, referenceFrame); return ret; }
public static AverageSampleYoFrameVector createAverageSampleYoFrameVector(String namePrefix, String nameSuffix, YoVariableRegistry registry, ReferenceFrame referenceFrame) { AverageSampleDoubleYoVariable x = new AverageSampleDoubleYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry); AverageSampleDoubleYoVariable y = new AverageSampleDoubleYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry); AverageSampleDoubleYoVariable z = new AverageSampleDoubleYoVariable(YoFrameVariableNameTools.createZName(namePrefix, nameSuffix), registry); AverageSampleYoFrameVector ret = new AverageSampleYoFrameVector(x, y, z, referenceFrame); return ret; }
public static SimpleMovingAverageFilteredYoFrameVector createSimpleMovingAverageFilteredYoFrameVector(String namePrefix, String nameSuffix, int windowSize, ReferenceFrame referenceFrame, YoVariableRegistry registry) { String xName = createXName(namePrefix, nameSuffix); String yName = createYName(namePrefix, nameSuffix); String zName = createZName(namePrefix, nameSuffix); SimpleMovingAverageFilteredYoVariable x = new SimpleMovingAverageFilteredYoVariable(xName, windowSize, registry); SimpleMovingAverageFilteredYoVariable y = new SimpleMovingAverageFilteredYoVariable(yName, windowSize, registry); SimpleMovingAverageFilteredYoVariable z = new SimpleMovingAverageFilteredYoVariable(zName, windowSize, registry); return new SimpleMovingAverageFilteredYoFrameVector(x, y, z, referenceFrame); }
public YoFrameVector findYoFrameVector(String vectorPrefix, String vectorSuffix, ReferenceFrame vectorFrame) { DoubleYoVariable x = (DoubleYoVariable) scs.getVariable(createXName(vectorPrefix, vectorSuffix)); DoubleYoVariable y = (DoubleYoVariable) scs.getVariable(createYName(vectorPrefix, vectorSuffix)); DoubleYoVariable z = (DoubleYoVariable) scs.getVariable(createZName(vectorPrefix, vectorSuffix)); if (x == null || y == null || z == null) return null; else return new YoFrameVector(x, y, z, vectorFrame); }
public static BetaFilteredYoFramePoint2d createBetaFilteredYoFramePoint2d(String namePrefix, String nameSuffix, YoVariableRegistry registry, int beta, YoFramePoint2d unfilteredPoint) { // beta is a int BetaFilteredYoVariable x = new BetaFilteredYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry, beta, unfilteredPoint.getYoX()); BetaFilteredYoVariable y = new BetaFilteredYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry, beta, unfilteredPoint.getYoY()); BetaFilteredYoFramePoint2d ret = new BetaFilteredYoFramePoint2d(x, y, unfilteredPoint.getReferenceFrame()); return ret; }
public static AlphaFilteredYoFramePoint2d createAlphaFilteredYoFramePoint2d(String namePrefix, String nameSuffix, YoVariableRegistry registry, double alpha, YoFramePoint2d unfilteredPoint) { // alpha is a double AlphaFilteredYoVariable x = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry, alpha, unfilteredPoint.getYoX()); AlphaFilteredYoVariable y = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry, alpha, unfilteredPoint.getYoY()); AlphaFilteredYoFramePoint2d ret = new AlphaFilteredYoFramePoint2d(x, y, unfilteredPoint.getReferenceFrame()); return ret; }
public static AlphaFilteredYoFramePoint2d createAlphaFilteredYoFramePoint2d(String namePrefix, String nameSuffix, YoVariableRegistry registry, DoubleYoVariable alpha, YoFramePoint2d unfilteredPoint) { // alpha is a YoVariable AlphaFilteredYoVariable x = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry, alpha, unfilteredPoint.getYoX()); AlphaFilteredYoVariable y = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry, alpha, unfilteredPoint.getYoY()); AlphaFilteredYoFramePoint2d ret = new AlphaFilteredYoFramePoint2d(x, y, unfilteredPoint.getReferenceFrame()); return ret; }
public static RateLimitedYoFrameVector2d createRateLimitedYoFrameVector2d(String namePrefix, String nameSuffix, YoVariableRegistry registry, double maxRate, double dt, YoFrameVector2D unfilteredVector) { RateLimitedYoVariable x = new RateLimitedYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry, maxRate, unfilteredVector.getYoX(), dt); RateLimitedYoVariable y = new RateLimitedYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry, maxRate, unfilteredVector.getYoY(), dt); RateLimitedYoFrameVector2d ret = new RateLimitedYoFrameVector2d(x, y, unfilteredVector.getReferenceFrame()); return ret; }
public static BetaFilteredYoFramePoint2d createBetaFilteredYoFramePoint2d(String namePrefix, String nameSuffix, YoVariableRegistry registry, int beta, YoFramePoint2D unfilteredPoint) { // beta is a int BetaFilteredYoVariable x = new BetaFilteredYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry, beta, unfilteredPoint.getYoX()); BetaFilteredYoVariable y = new BetaFilteredYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry, beta, unfilteredPoint.getYoY()); BetaFilteredYoFramePoint2d ret = new BetaFilteredYoFramePoint2d(x, y, unfilteredPoint.getReferenceFrame()); return ret; }
public static AlphaFilteredYoFrameVector2d createAlphaFilteredYoFrameVector2d(String namePrefix, String nameSuffix, YoVariableRegistry registry, double alpha, YoFrameVector2d unfilteredVector) { // alpha is a double AlphaFilteredYoVariable x = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry, alpha, unfilteredVector.getYoX()); AlphaFilteredYoVariable y = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry, alpha, unfilteredVector.getYoY()); AlphaFilteredYoFrameVector2d ret = new AlphaFilteredYoFrameVector2d(x, y, unfilteredVector.getReferenceFrame()); return ret; }
public static RateLimitedYoFrameVector2d createRateLimitedYoFrameVector2d(String namePrefix, String nameSuffix, YoVariableRegistry registry, DoubleYoVariable maxRate, double dt, YoFrameVector2d unfilteredVector) { RateLimitedYoVariable x = new RateLimitedYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry, maxRate, unfilteredVector.getYoX(), dt); RateLimitedYoVariable y = new RateLimitedYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry, maxRate, unfilteredVector.getYoY(), dt); RateLimitedYoFrameVector2d ret = new RateLimitedYoFrameVector2d(x, y, unfilteredVector.getReferenceFrame()); return ret; }
public static BacklashCompensatingVelocityYoFrameVector createBacklashCompensatingVelocityYoFrameVector(String namePrefix, String nameSuffix, YoDouble alpha, double dt, YoDouble slopTime, YoVariableRegistry registry, YoFramePoint3D yoFramePointToDifferentiate) { BacklashCompensatingVelocityYoVariable xDot = new BacklashCompensatingVelocityYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), "", alpha, yoFramePointToDifferentiate.getYoX(), dt, slopTime, registry); BacklashCompensatingVelocityYoVariable yDot = new BacklashCompensatingVelocityYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), "", alpha, yoFramePointToDifferentiate.getYoY(), dt, slopTime, registry); BacklashCompensatingVelocityYoVariable zDot = new BacklashCompensatingVelocityYoVariable(YoFrameVariableNameTools.createZName(namePrefix, nameSuffix), "", alpha, yoFramePointToDifferentiate.getYoZ(), dt, slopTime, registry); BacklashCompensatingVelocityYoFrameVector ret = new BacklashCompensatingVelocityYoFrameVector(xDot, yDot, zDot, registry, yoFramePointToDifferentiate); return ret; }
public static BacklashCompensatingVelocityYoFrameVector createBacklashCompensatingVelocityYoFrameVector(String namePrefix, String nameSuffix, DoubleYoVariable alpha, double dt, DoubleYoVariable slopTime, YoVariableRegistry registry, YoFramePoint yoFramePointToDifferentiate) { BacklashCompensatingVelocityYoVariable xDot = new BacklashCompensatingVelocityYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), "", alpha, yoFramePointToDifferentiate.getYoX(), dt, slopTime, registry); BacklashCompensatingVelocityYoVariable yDot = new BacklashCompensatingVelocityYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), "", alpha, yoFramePointToDifferentiate.getYoY(), dt, slopTime, registry); BacklashCompensatingVelocityYoVariable zDot = new BacklashCompensatingVelocityYoVariable(YoFrameVariableNameTools.createZName(namePrefix, nameSuffix), "", alpha, yoFramePointToDifferentiate.getYoZ(), dt, slopTime, registry); BacklashCompensatingVelocityYoFrameVector ret = new BacklashCompensatingVelocityYoFrameVector(xDot, yDot, zDot, registry, yoFramePointToDifferentiate); return ret; }
public static TimestampedVelocityYoFrameVector createFilteredVelocityYoFrameVector(String namePrefix, String nameSuffix, YoDouble timestamp, double dt, YoVariableRegistry registry, YoFramePoint3D yoFramePointToDifferentiate, double epsilonChange) { TimestampedVelocityYoVariable xDot = new TimestampedVelocityYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), "", yoFramePointToDifferentiate.getYoX(), timestamp, registry, epsilonChange); TimestampedVelocityYoVariable yDot = new TimestampedVelocityYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), "", yoFramePointToDifferentiate.getYoY(), timestamp, registry, epsilonChange); TimestampedVelocityYoVariable zDot = new TimestampedVelocityYoVariable(YoFrameVariableNameTools.createZName(namePrefix, nameSuffix), "", yoFramePointToDifferentiate.getYoZ(), timestamp, registry, epsilonChange); TimestampedVelocityYoFrameVector ret = new TimestampedVelocityYoFrameVector(xDot, yDot, zDot, yoFramePointToDifferentiate.getReferenceFrame()); return ret; }
public static AlphaFilteredYoFrameVector createAlphaFilteredYoFrameVector(String namePrefix, String nameSuffix, YoVariableRegistry registry, DoubleYoVariable alpha, YoFramePoint unfilteredPosition) { // alpha is a YoVariable AlphaFilteredYoVariable x = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry, alpha, unfilteredPosition.getYoX()); AlphaFilteredYoVariable y = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry, alpha, unfilteredPosition.getYoY()); AlphaFilteredYoVariable z = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createZName(namePrefix, nameSuffix), registry, alpha, unfilteredPosition.getYoZ()); AlphaFilteredYoFrameVector ret = new AlphaFilteredYoFrameVector(x, y, z, unfilteredPosition.getReferenceFrame()); return ret; }
public static AlphaFilteredYoFramePoint createAlphaFilteredYoFramePoint(String namePrefix, String nameSuffix, YoVariableRegistry registry, DoubleYoVariable alpha, YoFramePoint unfilteredPoint) { // alpha is a YoVariable AlphaFilteredYoVariable x = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry, alpha, unfilteredPoint.getYoX()); AlphaFilteredYoVariable y = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry, alpha, unfilteredPoint.getYoY()); AlphaFilteredYoVariable z = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createZName(namePrefix, nameSuffix), registry, alpha, unfilteredPoint.getYoZ()); AlphaFilteredYoFramePoint ret = new AlphaFilteredYoFramePoint(x, y, z, unfilteredPoint.getReferenceFrame()); return ret; }