public FirstOrderBandPassFilteredYoVariable(String name, String description, double minPassThroughFrequency_Hz, double maxPassThroughFrequency_Hz, YoDouble yoTime, YoVariableRegistry registry) { super(name, description, maxPassThroughFrequency_Hz, yoTime, FirstOrderFilterType.LOW_PASS, registry); this.highPassFilteredInput = new FirstOrderFilteredYoVariable(name + "HighPassFilteredOnly", description, minPassThroughFrequency_Hz, yoTime, FirstOrderFilterType.HIGH_PASS, registry); setPassBand(minPassThroughFrequency_Hz, maxPassThroughFrequency_Hz); }
public AlphaFilteredYoSpatialVector(String namePrefix, String nameSuffix, YoVariableRegistry registry, DoubleProvider alphaAngularPart, DoubleProvider alphaLinearPart, FrameVector3DReadOnly rawAngularPart, FrameVector3DReadOnly rawLinearPart) { super(new AlphaFilteredYoFrameVector(namePrefix, nameSuffix, registry, alphaAngularPart, rawAngularPart), new AlphaFilteredYoFrameVector(namePrefix, nameSuffix, registry, alphaLinearPart, rawLinearPart)); this.alphaFilteredAngularPart = (AlphaFilteredYoFrameVector) getAngularPart(); this.alphaFilteredLinearPart = (AlphaFilteredYoFrameVector) getLinearPart(); }
public void update() { lowPassFilteredSlowVariable.update(); highPassFilteredFastVariable.update(); set(lowPassFilteredSlowVariable.getDoubleValue() + highPassFilteredFastVariable.getDoubleValue()); }
public void setPassBand(double minPassThroughFreqHz, double maxPassThroughFreqHz) { checkPassband(minPassThroughFreqHz, maxPassThroughFreqHz); highPassFilteredInput.setCutoffFrequencyHz(minPassThroughFreqHz); this.setCutoffFrequencyHz(maxPassThroughFreqHz); }
public void update(FramePose3DReadOnly framePoseUnfiltered) { checkReferenceFrameMatch(framePoseUnfiltered); position.update(framePoseUnfiltered.getPosition()); orientation.update(framePoseUnfiltered.getOrientation()); set(position, orientation); }
public ButterworthFusedYoVariable(String name, YoVariableRegistry yoVariableRegistry, double alpha, DoubleYoVariable slowSignal, DoubleYoVariable fastSignal) { super(name, yoVariableRegistry); lowPassFilteredSlowVariable = new ButterworthFilteredYoVariable(name + "lowPass", yoVariableRegistry, alpha, slowSignal, ButterworthFilterType.LOW_PASS); highPassFilteredFastVariable = new ButterworthFilteredYoVariable(name + "highPass", yoVariableRegistry, alpha, fastSignal, ButterworthFilterType.HIGH_PASS); reset(); }
public RateLimitedYoSpatialVector(String namePrefix, String nameSuffix, YoVariableRegistry registry, DoubleProvider maximumAngularRate, DoubleProvider maximumLinearRate, double dt, FrameVector3DReadOnly rawAngularPart, FrameVector3DReadOnly rawLinearPart) { super(new RateLimitedYoFrameVector(namePrefix, nameSuffix, registry, maximumAngularRate, dt, rawAngularPart), new RateLimitedYoFrameVector(namePrefix, nameSuffix, registry, maximumLinearRate, dt, rawLinearPart)); this.rateLimitedAngularPart = (RateLimitedYoFrameVector) getAngularPart(); this.rateLimitedLinearPart = (RateLimitedYoFrameVector) getLinearPart(); }
@Override public double getKp() { return limitedKp.getDoubleValue(); }
public static SecondOrderFilteredYoFrameVector createSecondOrderFilteredYoFrameVector(String namePrefix, String nameSuffix, YoVariableRegistry registry, double dt, double naturalFrequencyInHz, double dampingRatio, SecondOrderFilterType filterType, ReferenceFrame referenceFrame) { SecondOrderFilteredYoVariableParameters parameters = new SecondOrderFilteredYoVariableParameters(namePrefix + nameSuffix, registry, naturalFrequencyInHz, dampingRatio, filterType); return createSecondOrderFilteredYoFrameVector(namePrefix, nameSuffix, registry, dt, parameters, referenceFrame); }
public void update(double slowSignalVal, double fastSignalVal) { lowPassFilteredSlowVariable.update(slowSignalVal); highPassFilteredFastVariable.update(fastSignalVal); set(lowPassFilteredSlowVariable.getDoubleValue() + highPassFilteredFastVariable.getDoubleValue()); } }
public FirstOrderBandPassFilteredYoVariable(String name, String description, double minPassThroughFrequency_Hz, double maxPassThroughFrequency_Hz, DoubleYoVariable yoTime, YoVariableRegistry registry) { super(name, description, maxPassThroughFrequency_Hz, yoTime, FirstOrderFilterType.LOW_PASS, registry); this.highPassFilteredInput = new FirstOrderFilteredYoVariable(name + "HighPassFilteredOnly", description, minPassThroughFrequency_Hz, yoTime, FirstOrderFilterType.HIGH_PASS, registry); setPassBand(minPassThroughFrequency_Hz, maxPassThroughFrequency_Hz); }
public void setPassBand(double minPassThroughFreqHz, double maxPassThroughFreqHz) { checkPassband(minPassThroughFreqHz, maxPassThroughFreqHz); highPassFilteredInput.setCutoffFrequencyHz(minPassThroughFreqHz); this.setCutoffFrequencyHz(maxPassThroughFreqHz); }
public ButterworthFusedYoVariable(String name, YoVariableRegistry yoVariableRegistry, double alpha, YoDouble slowSignal, YoDouble fastSignal) { super(name, yoVariableRegistry); lowPassFilteredSlowVariable = new ButterworthFilteredYoVariable(name + "lowPass", yoVariableRegistry, alpha, slowSignal, ButterworthFilterType.LOW_PASS); highPassFilteredFastVariable = new ButterworthFilteredYoVariable(name + "highPass", yoVariableRegistry, alpha, fastSignal, ButterworthFilterType.HIGH_PASS); reset(); }
public static SecondOrderFilteredYoFrameVector createSecondOrderFilteredYoFrameVector(String namePrefix, String nameSuffix, YoVariableRegistry registry, double dt, double naturalFrequencyInHz, double dampingRatio, SecondOrderFilterType filterType, YoFrameVector3D unfilteredVector) { SecondOrderFilteredYoVariableParameters parameters = new SecondOrderFilteredYoVariableParameters(namePrefix + nameSuffix, registry, naturalFrequencyInHz, dampingRatio, filterType); return createSecondOrderFilteredYoFrameVector(namePrefix, nameSuffix, registry, dt, parameters, unfilteredVector); }
public void update() { lowPassFilteredSlowVariable.update(); highPassFilteredFastVariable.update(); set(lowPassFilteredSlowVariable.getDoubleValue() + highPassFilteredFastVariable.getDoubleValue()); }
public void update(double slowSignalVal, double fastSignalVal) { lowPassFilteredSlowVariable.update(slowSignalVal); highPassFilteredFastVariable.update(fastSignalVal); set(lowPassFilteredSlowVariable.getDoubleValue() + highPassFilteredFastVariable.getDoubleValue()); } }