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

java.lang.Object
  com.yobotics.simulationconstructionset.YoVariable
      com.yobotics.simulationconstructionset.util.math.filter.AlphaFilteredYoVariable

All Implemented Interfaces:

Observable, java.io.Serializable

Direct Known Subclasses:

RampedAlphaFilteredYoVariable

public class AlphaFilteredYoVariable
extends YoVariable

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 - alpha) * raw_{n}
         

For alpha=0 -> no filtered For alpha=1 -> 100% filtered, no use of raw signal

See Also:

Serialized Form

Field Summary

Fields inherited from class com.yobotics.simulationconstructionset.YoVariable

MAX_LENGTH_SHORT_NAME, val

Constructor Summary

AlphaFilteredYoVariable(java.lang.String name, YoVariableRegistry registry, double alpha)

AlphaFilteredYoVariable(java.lang.String name, YoVariableRegistry registry, double alpha, YoVariable positionVariable)

AlphaFilteredYoVariable(java.lang.String name, YoVariableRegistry registry, YoVariable alphaVariable)

AlphaFilteredYoVariable(java.lang.String name, YoVariableRegistry registry, YoVariable alphaVariable, YoVariable positionVariable)

Method Summary

static double	computeAlphaGivenBreakFrequency(double breakFrequencyInHetrz, double dt)
void	reset()
void	set(double value) Set the value of this YoVariable.
void	setAlpha(double alpha)
void	update()
void	update(double currentPosition)

Methods inherited from class com.yobotics.simulationconstructionset.YoVariable

addObserver, fullNameEndsWith, getBooleanValue, getDescription, getDoubleValue, getEnumValue, getFullNameWithNameSpace, getIntegerValue, getManualScalingMax, getManualScalingMin, getName, getName, getNameAndValue, getShortName, getValue, getYoVariableRegistry, getYoVariableType, hasSameFullName, notifyObservers, removeAllObservers, removeObserver, set, set, set, setManualScalingMinMax, toString, valueEquals, valueEquals, valueEquals, valueEquals

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

AlphaFilteredYoVariable

public AlphaFilteredYoVariable(java.lang.String name,
                               YoVariableRegistry registry,
                               double alpha)

AlphaFilteredYoVariable

public AlphaFilteredYoVariable(java.lang.String name,
                               YoVariableRegistry registry,
                               YoVariable alphaVariable)

AlphaFilteredYoVariable

public AlphaFilteredYoVariable(java.lang.String name,
                               YoVariableRegistry registry,
                               double alpha,
                               YoVariable positionVariable)

AlphaFilteredYoVariable

public AlphaFilteredYoVariable(java.lang.String name,
                               YoVariableRegistry registry,
                               YoVariable alphaVariable,
                               YoVariable positionVariable)

Method Detail

reset

public void reset()

update

public void update()

update

public void update(double currentPosition)

setAlpha

public void setAlpha(double alpha)

computeAlphaGivenBreakFrequency

public static double computeAlphaGivenBreakFrequency(double breakFrequencyInHetrz,
                                                     double dt)

set

public void set(double value)

Description copied from class: YoVariable

Set the value of this YoVariable. All four types are represented via the same interal double. If of integer type this value is cast as an int whenever accessed. It represents the ordinal if of enum type. Boolean values are triggered around the 0.5 threshold with < 0.5 being false and greater or equal being true.

Overrides:

set in class YoVariable

Parameters:

value - double value to store