GCBeanHolder(String name, GarbageCollectorMXBean gcBean) { this.gcBean = gcBean; this.gcInvocations = new LongYoVariable(name + "GCInvocations", registry); this.gcTotalCollectionTimeMs = new LongYoVariable(name + "GCTotalTimeMs", registry); }
public GlobalTimer(String timerName, YoVariableRegistry parentRegistry) { this.timerName = timerName; registry = new YoVariableRegistry(timerName); timersAlpha = new DoubleYoVariable("timersAlpha", registry); timersAlpha.set(0.97); startTime = new LongYoVariable(timerName + "StartTimeNano", registry); stopTime = new LongYoVariable(timerName + "StopTimeNano", registry); duration = new DoubleYoVariable(timerName + "DurationMilli", registry); filteredDuration = new AlphaFilteredYoVariable(timerName + "FiltDurationMilli", registry, timersAlpha, duration); filteredDuration.update(); if (COMPUTE_MEAN) { runningAvg = new DoubleYoVariable(timerName + "AvgDurationMilli", registry); pastNValues = new ArrayList<Double>(); } else { runningAvg = null; pastNValues = null; } allTimers.add(this); parentRegistry.addChild(registry); }
timestamp = new LongYoVariable(getClass().getSimpleName() + "Timestamp", registry); estimatorClockStartTime = new LongYoVariable(getClass().getSimpleName() + "EstimatorClockStartTime", registry); estimatorTick = new LongYoVariable(getClass().getSimpleName() + "EstimatorTick", registry);
public YoTimer(String name, DoubleYoVariable timeYoVariable, YoVariableRegistry registry) { this(timeYoVariable); currentTimeYoVariable = new DoubleYoVariable(name + "CurrentTime", registry); lastTimeYoVariable = new DoubleYoVariable(name + "LastTime", registry); deltaTimeYoVariable = new DoubleYoVariable(name + "DeltaTime", registry); startTimeYoVariable = new DoubleYoVariable(name + "StartTime", registry); numLapsYoVariable = new LongYoVariable(name + "NumLaps", registry); deltaSumYoVariable = new DoubleYoVariable(name + "DeltaSum", registry); }
LongYoVariable longVar = new LongYoVariable(name, parent); variableList.add(longVar); break;
public ExecutionTimer(String name, double measurementDelayInSeconds, YoVariableRegistry registry) { this.measurementDelay = (long) (measurementDelayInSeconds * 1e9); current = new DoubleYoVariable(name + "Current", registry); average = new DoubleYoVariable(name + "Average", registry); movingAverage = new SimpleMovingAverageFilteredYoVariable(name + "MovingAverage", 100, current, registry); standardDeviation = new DoubleYoVariable(name + "StandardDeviation", registry); maximum = new DoubleYoVariable(name + "Maximum", registry); count = new LongYoVariable(name + "Count", registry); }
LongYoVariable longVar = new LongYoVariable(name, parent); variableList.add(longVar); break;
@Override public LongYoVariable duplicate(YoVariableRegistry newRegistry) { LongYoVariable retVar = new LongYoVariable(getName(), getDescription(), newRegistry, getManualScalingMin(), getManualScalingMax()); retVar.set(getLongValue()); return retVar; }
public MoveViaWaypointsState(FootControlHelper footControlHelper, VectorProvider touchdownVelocityProvider, VectorProvider touchdownAccelerationProvider, YoSE3PIDGainsInterface gains, YoVariableRegistry registry) { super(ConstraintType.MOVE_VIA_WAYPOINTS, footControlHelper, gains, registry); String namePrefix = footControlHelper.getRobotSide().getCamelCaseNameForStartOfExpression() + "FootMoveViaWaypoints"; footFrame = momentumBasedController.getReferenceFrames().getFootFrame(robotSide); positionTrajectoryGenerator = new MultipleWaypointsPositionTrajectoryGenerator(namePrefix, worldFrame, registry); orientationTrajectoryGenerator = new MultipleWaypointsOrientationTrajectoryGenerator(namePrefix, worldFrame, registry); isTrajectoryStopped = new BooleanYoVariable(namePrefix + "IsTrajectoryStopped", registry); isPerformingTouchdown = new BooleanYoVariable(namePrefix + "IsPerformingTouchdown", registry); positionTrajectoryForDisturbanceRecovery = new SoftTouchdownPositionTrajectoryGenerator(namePrefix + "Touchdown", worldFrame, currentDesiredFootPosition, touchdownVelocityProvider, touchdownAccelerationProvider, touchdownInitialTimeProvider, registry); lastCommandId = new LongYoVariable(namePrefix + "LastCommandId", registry); lastCommandId.set(Packet.INVALID_MESSAGE_ID); isReadyToHandleQueuedCommands = new BooleanYoVariable(namePrefix + "IsReadyToHandleQueuedFootTrajectoryCommands", registry); numberOfQueuedCommands = new LongYoVariable(namePrefix + "NumberOfQueuedCommands", registry); }
lastCommandId = new LongYoVariable(namePrefix + "LastCommandId", registry); lastCommandId.set(Packet.INVALID_MESSAGE_ID);
this.timestamp = new LongYoVariable("timestamp", getRobotsYoVariableRegistry()); this.robotTime = new DoubleYoVariable("robotTime", getRobotsYoVariableRegistry());
this.timestamp = new LongYoVariable("timestamp", getRobotsYoVariableRegistry()); this.robotTime = new DoubleYoVariable("robotTime", getRobotsYoVariableRegistry());
lastCommandId = new LongYoVariable(namePrefix + "LastCommandId", registry);
public TaskspaceChestControlState(HighLevelHumanoidControllerToolbox humanoidControllerToolbox, YoOrientationPIDGainsInterface gains, YoVariableRegistry parentRegistry) { super(ChestControlMode.TASKSPACE); this.gains = gains; yoTime = humanoidControllerToolbox.getYoTime(); FullRobotModel fullRobotModel = humanoidControllerToolbox.getFullRobotModel(); RigidBody chest = fullRobotModel.getChest(); RigidBody elevator = fullRobotModel.getElevator(); pelvisZUpFrame = humanoidControllerToolbox.getPelvisZUpFrame(); orientationFeedbackControlCommand.set(elevator, chest); orientationFeedbackControlCommand.setGains(gains); orientationTrajectoryGenerator = new MultipleWaypointsOrientationTrajectoryGenerator("chest", true, pelvisZUpFrame, registry); orientationTrajectoryGenerator.registerNewTrajectoryFrame(worldFrame); lastCommandId = new LongYoVariable("chestLastCommandId", registry); lastCommandId.set(Packet.INVALID_MESSAGE_ID); parentRegistry.addChild(registry); }
lastCommandId = new LongYoVariable(namePrefix + "LastCommandId", registry); lastCommandId.set(Packet.INVALID_MESSAGE_ID); numberOfQueuedCommands = new LongYoVariable(namePrefix + "NumberOfQueuedCommands", registry);
lastCommandId = new LongYoVariable(namePrefix + "LastCommandId", registry); lastCommandId.set(Packet.INVALID_MESSAGE_ID); numberOfQueuedCommands = new LongYoVariable(namePrefix + "NumberOfQueuedCommands", registry);
lastCommandId = new LongYoVariable(namePrefix + "LastCommandId", registry); lastCommandId.set(Packet.INVALID_MESSAGE_ID); numberOfQueuedCommands = new LongYoVariable(namePrefix + "NumberOfQueuedCommands", registry);
seNonProcessedPelvisTimeStamp = new LongYoVariable("seNonProcessedPelvis_timestamp", registry);
lastCommandId = new LongYoVariable(namePrefix + "LastCommandId", registry); lastCommandId.set(Packet.INVALID_MESSAGE_ID); numberOfQueuedCommands = new LongYoVariable(namePrefix + "NumberOfQueuedCommands", registry);