com.yobotics.simulationconstructionset.util.math.filter
Class ButterworthFilteredYoVariable
java.lang.Object
com.yobotics.simulationconstructionset.YoVariable
com.yobotics.simulationconstructionset.DoubleYoVariable
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
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)
|
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 |
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)
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)