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

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

public class ButterworthFilteredYoVariable
extends DoubleYoVariable

Author:
jrebula

LittleDogVersion06: us.ihmc.LearningLocomotion.Version06.util.YoAlphaFilteredVariable, 9:34:00 AM, Aug 29, 2006

A YoAlphaFilteredVariable is a filtered version of an input YoVar. Either a YoVariable holding the unfiltered val is passed in to the constructor and update() is called every tick, or update(double) is called every tick. The YoAlphaFilteredVariable updates it's val with the current filtered version using

            filtered_{n} = alpha * filtered_{n-1} + 1/2 * (1 - alpha) * (raw_{n} + raw{n-1}}
         
See Also:
Serialized Form

Nested Class Summary
static class ButterworthFilteredYoVariable.ButterworthFilterType
           
 
Field Summary
 
Fields inherited from class com.yobotics.simulationconstructionset.YoVariable
MAX_LENGTH_SHORT_NAME
 
Constructor Summary
ButterworthFilteredYoVariable(java.lang.String name, YoVariableRegistry registry, double alpha, ButterworthFilteredYoVariable.ButterworthFilterType butterworthFilterType)
           
ButterworthFilteredYoVariable(java.lang.String name, YoVariableRegistry registry, double alpha, DoubleYoVariable positionVariable, ButterworthFilteredYoVariable.ButterworthFilterType butterworthFilterType)
           
ButterworthFilteredYoVariable(java.lang.String name, YoVariableRegistry registry, DoubleYoVariable alphaVariable, ButterworthFilteredYoVariable.ButterworthFilterType butterworthFilterType)
           
ButterworthFilteredYoVariable(java.lang.String name, YoVariableRegistry registry, DoubleYoVariable alphaVariable, DoubleYoVariable positionVariable, ButterworthFilteredYoVariable.ButterworthFilterType butterworthFilterType)
           
 
Method Summary
static double computeAlphaGivenBreakFrequency(double breakFrequencyInHetrz, double dt)
           
static void main(java.lang.String[] args)
           
 void reset()
           
static void testButterWorth()
           
 void update()
           
 void update(double currentInput)
           
 
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

ButterworthFilteredYoVariable

public ButterworthFilteredYoVariable(java.lang.String name,
                                     YoVariableRegistry registry,
                                     double alpha,
                                     ButterworthFilteredYoVariable.ButterworthFilterType butterworthFilterType)

ButterworthFilteredYoVariable

public ButterworthFilteredYoVariable(java.lang.String name,
                                     YoVariableRegistry registry,
                                     double alpha,
                                     DoubleYoVariable positionVariable,
                                     ButterworthFilteredYoVariable.ButterworthFilterType butterworthFilterType)

ButterworthFilteredYoVariable

public ButterworthFilteredYoVariable(java.lang.String name,
                                     YoVariableRegistry registry,
                                     DoubleYoVariable alphaVariable,
                                     ButterworthFilteredYoVariable.ButterworthFilterType butterworthFilterType)

ButterworthFilteredYoVariable

public ButterworthFilteredYoVariable(java.lang.String name,
                                     YoVariableRegistry registry,
                                     DoubleYoVariable alphaVariable,
                                     DoubleYoVariable positionVariable,
                                     ButterworthFilteredYoVariable.ButterworthFilterType butterworthFilterType)
Method Detail

reset

public void reset()

update

public void update()

update

public void update(double currentInput)

testButterWorth

public static void testButterWorth()

computeAlphaGivenBreakFrequency

public static double computeAlphaGivenBreakFrequency(double breakFrequencyInHetrz,
                                                     double dt)

main

public static void main(java.lang.String[] args)