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

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

All Implemented Interfaces:

Observable, java.io.Serializable

public class FilteredVelocityYoVariable
extends YoVariable

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, val

Constructor Summary

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

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

FilteredVelocityYoVariable(java.lang.String name, YoVariable alphaVariable, YoVariable positionVariable, double dt, YoVariableRegistry registry)

Method Summary

void	reset()
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, set, setManualScalingMinMax, toString, valueEquals, valueEquals, valueEquals, valueEquals

Methods inherited from class java.lang.Object

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

Constructor Detail

FilteredVelocityYoVariable

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

FilteredVelocityYoVariable

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

FilteredVelocityYoVariable

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

Method Detail

reset

public void reset()

update

public void update()

update

public void update(double currentPosition)