How to use

getYoTime

method

in

us.ihmc.wholeBodyController.diagnostics.DiagnosticControllerToolbox

velocityIMUVsJointDelayStandardDeviation = new YoDouble(imuName + nameSuffix + "VelocityIMUVsJointDelayStandardDeviation", registry);
YoDouble yoTime = toolbox.getYoTime();
functionGenerator = new YoFunctionGenerator(imuName + nameSuffix, yoTime, registry);
functionGenerator.setAmplitude(diagnosticParameters.getCheckUpOscillationPositionAmplitude());

velocityIMUVsJointDelayStandardDeviation = new DoubleYoVariable(imuName + nameSuffix + "VelocityIMUVsJointDelayStandardDeviation", registry);
DoubleYoVariable yoTime = toolbox.getYoTime();
functionGenerator = new YoFunctionGenerator(imuName + nameSuffix, yoTime, registry);
functionGenerator.setAmplitude(diagnosticParameters.getCheckUpOscillationPositionAmplitude());

public AutomatedDiagnosticAnalysisController(DiagnosticControllerToolbox toolbox, InputStream gainStream, InputStream setpointStream,
   YoVariableRegistry parentRegistry)
 this.yoTime = toolbox.getYoTime();
 this.controlDT = toolbox.getDT();

public AutomatedDiagnosticAnalysisController(DiagnosticControllerToolbox toolbox, InputStream gainStream, InputStream setpointStream,
   YoVariableRegistry parentRegistry)
 this.yoTime = toolbox.getYoTime();
 this.controlDT = toolbox.getDT();

forceTrackingDelayStandardDeviation = new DoubleYoVariable(jointName + nameSuffix + "ForceTrackingDelayStandardDeviation", registry);
DoubleYoVariable yoTime = toolbox.getYoTime();
functionGenerator = new YoFunctionGenerator(jointName + nameSuffix, yoTime, registry);
functionGenerator.setAmplitude(diagnosticParameters.getCheckUpOscillationPositionAmplitude());

forceTrackingDelayStandardDeviation = new YoDouble(jointName + nameSuffix + "ForceTrackingDelayStandardDeviation", registry);
YoDouble yoTime = toolbox.getYoTime();
functionGenerator = new YoFunctionGenerator(jointName + nameSuffix, yoTime, registry);
functionGenerator.setAmplitude(diagnosticParameters.getCheckUpOscillationPositionAmplitude());