private void addLeakRatioClipper() { VariableChangedListener leakRatioClipper = new VariableChangedListener() { @Override public void notifyOfVariableChange(YoVariable<?> v) { integralLeakRatio.set(MathTools.clamp(integralLeakRatio.getDoubleValue(), 0.0, 1.0), false); } }; integralLeakRatio.addVariableChangedListener(leakRatioClipper); }
/** * Attaches a listener to {@code this} that is to be triggered when this tuple components change. * * @param variableChangedListener the listener to be attached. */ public final void attachVariableChangedListener(VariableChangedListener variableChangedListener) { x.addVariableChangedListener(variableChangedListener); y.addVariableChangedListener(variableChangedListener); z.addVariableChangedListener(variableChangedListener); }
public void attachVariableChangedListener(VariableChangedListener variableChangedListener) { yaw.addVariableChangedListener(variableChangedListener); pitch.addVariableChangedListener(variableChangedListener); roll.addVariableChangedListener(variableChangedListener); }
public YoDoubleStatistics(YoDouble variable, YoVariableRegistry registry) { this.variable = variable; this.registry = registry; variable.addVariableChangedListener(this::update); }
/** * Attaches a listener to {@code this} that is to be triggered when this tuple components change. * * @param variableChangedListener the listener to be attached. */ public final void attachVariableChangedListener(VariableChangedListener variableChangedListener) { x.addVariableChangedListener(variableChangedListener); y.addVariableChangedListener(variableChangedListener); }
/** * Attaches a listener to {@code this} that is to be triggered when this quaternion components * change. * * @param variableChangedListener the listener to be attached. */ public void attachVariableChangedListener(VariableChangedListener variableChangedListener) { qx.addVariableChangedListener(variableChangedListener); qy.addVariableChangedListener(variableChangedListener); qz.addVariableChangedListener(variableChangedListener); qs.addVariableChangedListener(variableChangedListener); }
public void createDerivativeGainUpdater(boolean updateNow) { VariableChangedListener kdUpdater = new VariableChangedListener() { @Override public void notifyOfVariableChange(YoVariable<?> v) { kd.set(GainCalculator.computeDerivativeGain(kp.getDoubleValue(), zeta.getDoubleValue())); } }; kp.addVariableChangedListener(kdUpdater); zeta.addVariableChangedListener(kdUpdater); if (updateNow) kdUpdater.notifyOfVariableChange(null); }
private static void addDampingUpdater(Axis axis, Map<Axis, YoDouble> kpMap, Map<Axis, YoDouble> kdMap, Map<Axis, YoDouble> zetaMap, YoBoolean update) { YoDouble kp = kpMap.get(axis); YoDouble kd = kdMap.get(axis); YoDouble zeta = zetaMap.get(axis); DampingUpdater kdUpdater = new DampingUpdater(kp, kd, zeta, update); kp.addVariableChangedListener(kdUpdater); zeta.addVariableChangedListener(kdUpdater); }
public Matrix3D createLinearAccelerationWeightMatrix() { Matrix3D weightMatrix = new Matrix3D(); xAccelerationWeights.addVariableChangedListener(new MatrixUpdater(0, 0, weightMatrix)); yAccelerationWeights.addVariableChangedListener(new MatrixUpdater(1, 1, weightMatrix)); zAccelerationWeight.addVariableChangedListener(new MatrixUpdater(2, 2, weightMatrix)); xAccelerationWeights.notifyVariableChangedListeners(); yAccelerationWeights.notifyVariableChangedListeners(); zAccelerationWeight.notifyVariableChangedListeners(); return weightMatrix; }
public Matrix3D createAngularAccelerationWeightMatrix() { Matrix3D weightMatrix = new Matrix3D(); yawAccelerationWeight.addVariableChangedListener(new MatrixUpdater(0, 0, weightMatrix)); pitchAccelerationWeight.addVariableChangedListener(new MatrixUpdater(1, 1, weightMatrix)); rollAccelerationWeight.addVariableChangedListener(new MatrixUpdater(2, 2, weightMatrix)); yawAccelerationWeight.notifyVariableChangedListeners(); pitchAccelerationWeight.notifyVariableChangedListeners(); rollAccelerationWeight.notifyVariableChangedListeners(); return weightMatrix; }
public GoalOrientedTestConductor(SimulationConstructionSet scs, SimulationTestingParameters simulationTestingParameters) { this.scs = scs; this.simulationTestingParameters = simulationTestingParameters; YoDouble yoTime = (YoDouble) scs.getVariable("t"); yoTime.addVariableChangedListener(this::notifyOfVariableChange); scs.startOnAThread(); scs.addSimulateDoneListener(this); }
final MutableInt yTicks = new MutableInt(0); desiredICPX.addVariableChangedListener(new VariableChangedListener() desiredICPY.addVariableChangedListener(new VariableChangedListener()
@ContinuousIntegrationTest(estimatedDuration = 0.0) @Test(timeout=300000) public void testWeirdCase() { MidiSliderBoard midiSliderBoard = new MidiSliderBoard(null, true); YoVariableRegistry registry = new YoVariableRegistry("testRegistry"); //need one of these for each DOF YoDouble yoVariable = new YoDouble("test", registry); midiSliderBoard.setSlider(3, yoVariable, 1.5, 2.5); //set scale yoVariable.addVariableChangedListener(new VariableChangedListener() { @Override public void notifyOfVariableChange(YoVariable<?> v) { System.out.println(v.getValueAsDouble()); } }); while(true) { } }
@Override public Artifact createArtifact() { MutableColor color3f = appearance.getColor(); YoDouble endPointX = new YoDouble(getName() + "ArtifactEndPointX", base.getYoX().getYoVariableRegistry()); YoDouble endPointY = new YoDouble(getName() + "ArtifactEndPointY", base.getYoY().getYoVariableRegistry()); base.getYoX().addVariableChangedListener(v -> endPointX.set(base.getX() + vector.getX())); base.getYoY().addVariableChangedListener(v -> endPointY.set(base.getY() + vector.getY())); vector.getYoX().addVariableChangedListener(v -> endPointX.set(base.getX() + vector.getX())); vector.getYoY().addVariableChangedListener(v -> endPointY.set(base.getY() + vector.getY())); return new YoArtifactLineSegment2d(getName(), new YoFrameLineSegment2D(base.getYoX(), base.getYoY(), endPointX, endPointY, ReferenceFrame.getWorldFrame()), color3f.get()); }
public DitherProducer(String namePrefix, YoVariableRegistry parentRegistry, double controlDT) { registry = new YoVariableRegistry(namePrefix); desiredDitherFrequency = new YoDouble(namePrefix + "_dither_frequency_desired", registry); desiredDitherFrequency.set(0.0); desiredDitherFrequency.addVariableChangedListener(new VariableChangedListener() { @Override public void notifyOfVariableChange(YoVariable<?> v) { checkFrequency(); } }); ditherFrequency = new YoDouble(namePrefix + "_dither_frequency", registry); ditherFrequency.set(0.0); amplitude = new YoDouble(namePrefix + "_dither_amplitude", registry); amplitude.set(0.0); dither = new YoDouble(namePrefix + "_dither_output", registry); dither.set(0.0); maxFrequency = 1.0 / (2.0 * controlDT); if (parentRegistry != null) { parentRegistry.addChild(registry); } }
thisJoint.getQYoVariable().addVariableChangedListener(symmetricModeListener); thisJoint.getQYoVariable().addVariableChangedListener(symmetricModeListener); YoDouble oppositeSideVariable = (YoDouble) scs.getVariable(oppositeSidePrefix + f + "_j" + j); SymmetricModeListener symmetricModeListener = new SymmetricModeListener(oppositeSideVariable, robotSide, 1.0); thisVariable.addVariableChangedListener(symmetricModeListener);
public AcsellActuatorCommand(String name, AcsellActuator actuator, YoVariableRegistry parentRegistry) { this.actuator = actuator; this.currentLimit = actuator.getCurrentLimit(); this.registry = new YoVariableRegistry(name); this.enabled = new YoBoolean(name + "Enabled", registry); this.tauDesired = new YoDouble(name + "TauDesired", registry); this.tauInertia = new YoDouble(name + "TauInertia", registry); this.qddDesired = new YoDouble(name + "qdd_d", registry); this.damping = new YoDouble(name + "Damping", registry); //this.currentDesired = new YoDouble(name+"CurrentDesired", registry); this.rawCurrentDesired = new YoDouble(name+"CurrentDesired", registry); if(actuator==StepprActuator.LEFT_HIP_Z || actuator==StepprActuator.RIGHT_HIP_Z) this.filteredCurrentDesired = new AlphaFilteredYoVariable(name+"CurrentDesired_filt", registry, 0.90, rawCurrentDesired); else this.filteredCurrentDesired = new AlphaFilteredYoVariable(name+"CurrentDesired_filt", registry, 0.0, rawCurrentDesired); rawCurrentDesired.addVariableChangedListener(new VariableChangedListener() { @Override public void notifyOfVariableChange(YoVariable<?> v) { if(v.getValueAsDouble()>currentLimit) v.setValueFromDouble(currentLimit); if(v.getValueAsDouble()<-currentLimit) v.setValueFromDouble(-currentLimit); } }); parentRegistry.addChild(registry); }
YoDouble desiredICPY = (YoDouble) drcSimulationTestHelper.getYoVariable("desiredICPY"); desiredICPX.addVariableChangedListener(new VariableChangedListener() desiredICPY.addVariableChangedListener(new VariableChangedListener()
YoDouble desiredICPY = (YoDouble) drcSimulationTestHelper.getYoVariable("desiredICPY"); desiredICPX.addVariableChangedListener(new VariableChangedListener() desiredICPY.addVariableChangedListener(new VariableChangedListener()
YoDouble desiredICPY = (YoDouble) drcSimulationTestHelper.getYoVariable("desiredICPY"); desiredICPX.addVariableChangedListener(new VariableChangedListener() desiredICPY.addVariableChangedListener(new VariableChangedListener()