com.yobotics.simulationconstructionset.util.math.filter
Class FilteredVelocityYoVariable

java.lang.Object
  extended by com.yobotics.simulationconstructionset.YoVariable
      extended by com.yobotics.simulationconstructionset.DoubleYoVariable
          extended by com.yobotics.simulationconstructionset.util.math.filter.FilteredVelocityYoVariable
All Implemented Interfaces:
java.io.Serializable

public class FilteredVelocityYoVariable
extends DoubleYoVariable

Author:
jrebula

A YoFilteredVelocityVariable is a filtered velocity of a position. Either a YoVariable holding the position is passed in to the constructor and update() is called every tick, or update(double) is called every tick. The YoFilteredVelocityVariable updates it's val with the current velocity after a filter of

            vel_{n} = alpha * vel{n-1} + (1 - alpha) * (pos_{n} - pos_{n-1})
 
See Also:
Serialized Form

Field Summary
 
Fields inherited from class com.yobotics.simulationconstructionset.YoVariable
MAX_LENGTH_SHORT_NAME
 
Constructor Summary
FilteredVelocityYoVariable(java.lang.String name, java.lang.String description, double alpha, DoubleYoVariable positionVariable, double dt, YoVariableRegistry registry)
           
FilteredVelocityYoVariable(java.lang.String name, java.lang.String description, double alpha, double dt, YoVariableRegistry registry)
           
FilteredVelocityYoVariable(java.lang.String name, java.lang.String description, DoubleYoVariable alphaVariable, DoubleYoVariable positionVariable, double dt, YoVariableRegistry registry)
           
FilteredVelocityYoVariable(java.lang.String name, java.lang.String description, DoubleYoVariable alphaVariable, double dt, YoVariableRegistry registry)
           
 
Method Summary
 void reset()
           
 void setAlpha(double alpha)
           
 void update()
           
 void update(double currentPosition)
           
 void updateForAngles()
           
 void updateForAngles(double currentPosition)
           
 
Methods inherited from class com.yobotics.simulationconstructionset.DoubleYoVariable
add, add, getDoubleValue, getValueAsDouble, getValueString, getValueStringFromDouble, getYoVariableType, isNaN, mul, mul, set, setValueFromDouble, sub, sub, toString, valueEquals
 
Methods inherited from class com.yobotics.simulationconstructionset.YoVariable
addVariableChangedListener, fullNameEndsWithCaseInsensitive, getDescription, getFullNameWithNameSpace, getManualScalingMax, getManualScalingMin, getName, getName, getNameAndValueString, getNameAndValueStringFromDouble, getNameSpace, getNumericValueAsAString, getShortName, getVariableChangedListeners, getYoVariableRegistry, hasSameFullName, notifyVariableChangedListeners, removeAllVariableChangedListeners, removeVariableChangedListener, setManualScalingMinMax
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
 

Constructor Detail

FilteredVelocityYoVariable

public FilteredVelocityYoVariable(java.lang.String name,
                                  java.lang.String description,
                                  double alpha,
                                  double dt,
                                  YoVariableRegistry registry)

FilteredVelocityYoVariable

public FilteredVelocityYoVariable(java.lang.String name,
                                  java.lang.String description,
                                  double alpha,
                                  DoubleYoVariable positionVariable,
                                  double dt,
                                  YoVariableRegistry registry)

FilteredVelocityYoVariable

public FilteredVelocityYoVariable(java.lang.String name,
                                  java.lang.String description,
                                  DoubleYoVariable alphaVariable,
                                  DoubleYoVariable positionVariable,
                                  double dt,
                                  YoVariableRegistry registry)

FilteredVelocityYoVariable

public FilteredVelocityYoVariable(java.lang.String name,
                                  java.lang.String description,
                                  DoubleYoVariable alphaVariable,
                                  double dt,
                                  YoVariableRegistry registry)
Method Detail

reset

public void reset()

update

public void update()

updateForAngles

public void updateForAngles()

update

public void update(double currentPosition)

updateForAngles

public void updateForAngles(double currentPosition)

setAlpha

public void setAlpha(double alpha)