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

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

All Implemented Interfaces:

Observable, java.io.Serializable

public class AlphaFusedYoVariable
extends YoVariable

Author:

jrebula

A YoFusedVariable takes two inputs measuring the same signal and filters them together. One of the signals is considered accurate at low frequencies and the other accurate at high frequencies. The user also supplies an alpha which relates the relative confidence frequencies. Either the underlying inputs must be passed in to a constructor as YoVariables and update() called every tick or update(double, double) must be called every tick with the variables. The YoAlphaFilteredVariable updates it's val with the current filtered version using

            steady_state_offset_{n} = steady_state_offset_{n-1} + alpha * (fused_{n-1} - slow_signal_{n})
            fused_{n} = fast_signal_{n} - steady_state_offset_{n}
         

A lower alpha means that the relative confidence frequency of the slowSignal is lower.

See Also:

Serialized Form

Field Summary

Fields inherited from class com.yobotics.simulationconstructionset.YoVariable

MAX_LENGTH_SHORT_NAME, val

Constructor Summary

AlphaFusedYoVariable(java.lang.String name, YoVariableRegistry yoVariableRegistry, double alpha)

AlphaFusedYoVariable(java.lang.String name, YoVariableRegistry yoVariableRegistry, double alpha, YoVariable slowSignal, YoVariable fastSignal)

AlphaFusedYoVariable(java.lang.String name, YoVariableRegistry yoVariableRegistry, YoVariable alphaVariable, YoVariable slowSignal, YoVariable fastSignal)

Method Summary

void	reset()
void	update()
void	update(double slowSignalVal, double fastSignalVal)

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, set, setManualScalingMinMax, toString, valueEquals, valueEquals, valueEquals, valueEquals

Methods inherited from class java.lang.Object

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

Constructor Detail

AlphaFusedYoVariable

public AlphaFusedYoVariable(java.lang.String name,
                            YoVariableRegistry yoVariableRegistry,
                            double alpha)

AlphaFusedYoVariable

public AlphaFusedYoVariable(java.lang.String name,
                            YoVariableRegistry yoVariableRegistry,
                            double alpha,
                            YoVariable slowSignal,
                            YoVariable fastSignal)

AlphaFusedYoVariable

public AlphaFusedYoVariable(java.lang.String name,
                            YoVariableRegistry yoVariableRegistry,
                            YoVariable alphaVariable,
                            YoVariable slowSignal,
                            YoVariable fastSignal)

Method Detail

reset

public void reset()

update

public void update()

update

public void update(double slowSignalVal,
                   double fastSignalVal)