public YoAngularAccelerationWeights(String prefix, YoVariableRegistry registry) { yawAccelerationWeight = new YoDouble(prefix + "_YawAccelerationWeight", registry); pitchAccelerationWeight = new YoDouble(prefix + "_PitchAccelerationWeight", registry); rollAccelerationWeight = new YoDouble(prefix + "_RollAccelerationWeight", registry); }
public CopierProcessingFunction(YoDouble inputData, YoVariableRegistry registry) { testVariable = inputData; copyVariable = new YoDouble("copyVariable", registry); }
public YoPDGains(String suffix, YoVariableRegistry registry) { kp = new YoDouble("kp" + suffix, registry); zeta = new YoDouble("zeta" + suffix, registry); kd = new YoDouble("kd" + suffix, registry); maximumFeedback = new YoDouble("maximumFeedback" + suffix, registry); maximumFeedbackRate = new YoDouble("maximumFeedbackRate" + suffix, registry); positionDeadband = new YoDouble("positionDeadband" + suffix, registry); maximumFeedback.set(Double.POSITIVE_INFINITY); maximumFeedbackRate.set(Double.POSITIVE_INFINITY); }
public YoOneDoFWaypoint(String namePrefix, String nameSuffix, YoVariableRegistry registry) { this.namePrefix = namePrefix; this.nameSuffix = nameSuffix; position = new YoDouble(createName(namePrefix, "position", nameSuffix), registry); velocity = new YoDouble(createName(namePrefix, "velocity", nameSuffix), registry); }
private static DoubleProvider createMaxRateYoDouble(String namePrefix, String nameSuffix, double initialValue, YoVariableRegistry registry) { YoDouble maxRate = new YoDouble(namePrefix + "MaxRate" + nameSuffix, registry); maxRate.set(initialValue); return maxRate; }
protected DoubleGlobalParameter(String name, String description, GlobalParameter[] parents, GlobalParameterChangedListener listener) { super(parents, listener); yoVariable = new YoDouble(name, description,registry); if (changedListener != null) changedListener.globalParameterCreated(this); }
public void allowTopJointAngleOffset(String namePrefix, double offset, YoVariableRegistry registry) { topJointAngleOffset = new YoDouble(namePrefix + "TopJointAngleOffset", registry); topJointAngleOffset.set(offset); }
public YoAverager(String prefix, YoVariableRegistry registry) { average = new YoDouble(prefix + "Average", registry); nUpdates = new YoInteger(prefix + "AverageNUpdates", registry); }
public static void populateYoVariablesMatrix(List<List<YoDouble>> yoVariableArray, int nRows, int nColumns, String prefix, YoVariableRegistry registry) { for (int i = 0; i < nRows; i++) { List<YoDouble> row = getOrAddRow(yoVariableArray, i); for (int j = row.size(); j < nColumns; j++) { row.add(new YoDouble(prefix + Integer.toString(i) + "_" + Integer.toString(j), registry)); } } }
public static void populateYoVariablesSymmetricMatrix(List<List<YoDouble>> yoVariableArray, int size, String prefix, YoVariableRegistry registry) { for (int i = 0; i < size; i++) { List<YoDouble> row = getOrAddRow(yoVariableArray, i); for (int j = row.size(); j <= i; j++) { row.add(new YoDouble(prefix + Integer.toString(i) + "_" + Integer.toString(j), registry)); } } }
public static void main(String[] args) { YoVariableRegistry registry = new YoVariableRegistry("test"); YoDouble hysteresisAmount = new YoDouble("hysteresisAmount", registry); new HysteresisFilteredYoVariable("test", registry, hysteresisAmount); System.out.println("done"); } }
public JointPositionSensor(String jointName, String parameterGroup, double dt, YoVariableRegistry registry) { this.jointName = jointName; this.sqrtHz = 1.0 / Math.sqrt(dt); jointPositionVariance = FilterTools.findOrCreate(parameterGroup + "JointPositionVariance", registry, 1.0); rawMeasurement = new YoDouble(FilterTools.stringToPrefix(jointName) + "raw", registry); }
public FilteredVelocityYoVariable(String name, String description, double alpha, double dt, YoVariableRegistry registry) { super(name, description, registry); this.hasBeenCalled = new YoBoolean(name + "HasBeenCalled", registry); this.alphaDouble = alpha; this.dt = dt; this.alphaVariable = null; this.position = null; lastPosition = new YoDouble(name + "_lastPosition", registry); reset(); }
public ButterworthFilteredYoVariable(String name, YoVariableRegistry registry, double alpha, ButterworthFilterType butterworthFilterType) { super(name, registry); this.hasBeenCalled = new YoBoolean(name + "HasBeenCalled", registry); this.alpha = alpha; this.alphaVariable = null; this.position = null; this.previousInput = new YoDouble(name + "_prevIn", registry); this.butterworthFilterType = butterworthFilterType; reset(); }
public void enableMax() { max = new YoDouble(variable.getName() + "Max", registry); max.set(Double.MIN_VALUE); }
public YoLimitedPDGains(String suffix, double controlDT, YoVariableRegistry registry) { super(suffix, registry); maxKpRate = new YoDouble("maxKpRate" + suffix, registry); maxKdRate = new YoDouble("maxKdRate" + suffix, registry); limitedKp = new RateLimitedYoVariable("limitedKp" + suffix, registry, maxKpRate, super.getYoKp(), controlDT); limitedKd = new RateLimitedYoVariable("limitedKd" + suffix, registry, maxKdRate, super.getYoKd(), controlDT); maxKpRate.set(Double.POSITIVE_INFINITY); maxKdRate.set(Double.POSITIVE_INFINITY); }
public RateLimitedYoVariable(String name, YoVariableRegistry registry, double maxRate, YoDouble positionVariable, double dt) { super(name, registry); this.hasBeenCalled = new YoBoolean(name + "HasBeenCalled", registry); this.limited = new YoBoolean(name + "Limited", registry); position = positionVariable; YoDouble maxRateVariable = new YoDouble(name + "MaxRate", registry); maxRateVariable.set(maxRate); this.maxRateVariable = maxRateVariable; this.dt = dt; reset(); }
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout=300000) public void testSimpleConstructorDouble() { YoDouble yoDouble = new YoDouble("testD", yoVariableRegistry); NoisyYoDouble noisyDoubleYoVariable = new NoisyYoDouble("testN", yoVariableRegistry, yoDouble); noisyDoubleYoVariable.update(); }
public WandererOutputProcessor(FullRobotModel controllerFullRobotModel) { wholeBodyControlJoints = WandererUtil.createJointMap(controllerFullRobotModel.getOneDoFJoints()); for (WandererActuator actuator : WandererActuator.values) { predictedMotorPower.put(actuator, new YoDouble(actuator.getName() + "PredictedMotorPower", registry)); } leftFourbar = new AcsellFourbarCalculator(new WandererFourbarProperties(), "leftOutputProcessor", RobotSide.LEFT, registry); rightFourbar = new AcsellFourbarCalculator(new WandererFourbarProperties(), "rightOutputProcessor", RobotSide.RIGHT, registry); }