private YoFrameTupleValidityChecker(String inputName, YoFrameTuple<?, ?> input, YoVariableRegistry parentRegistry) { registry = new YoVariableRegistry(inputName + "ValidityChecker"); parentRegistry.addChild(registry); this.input = input; if (input != null) { validityCheckers.put(Direction.X, new DoubleYoVariableValidityChecker(input.getYoX(), registry)); validityCheckers.put(Direction.Y, new DoubleYoVariableValidityChecker(input.getYoY(), registry)); validityCheckers.put(Direction.Z, new DoubleYoVariableValidityChecker(input.getYoZ(), registry)); } else { validityCheckers.put(Direction.X, new DoubleYoVariableValidityChecker(inputName + "X", registry)); validityCheckers.put(Direction.Y, new DoubleYoVariableValidityChecker(inputName + "Y", registry)); validityCheckers.put(Direction.Z, new DoubleYoVariableValidityChecker(inputName + "Z", registry)); } }
public static DeadzoneYoFrameVector createDeadzoneYoFrameVector(String namePrefix, String nameSuffix, YoVariableRegistry registry, DoubleYoVariable deadzoneSize, YoFrameTuple<?, ?> rawTuple) { DeadzoneYoVariable x = new DeadzoneYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), rawTuple.getYoX(), deadzoneSize, registry); DeadzoneYoVariable y = new DeadzoneYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), rawTuple.getYoY(), deadzoneSize, registry); DeadzoneYoVariable z = new DeadzoneYoVariable(YoFrameVariableNameTools.createZName(namePrefix, nameSuffix), rawTuple.getYoZ(), deadzoneSize, registry); DeadzoneYoFrameVector ret = new DeadzoneYoFrameVector(x, y, z, rawTuple.getReferenceFrame()); return ret; }
public static BacklashProcessingYoFrameVector createBacklashProcessingYoFrameVector(String namePrefix, String nameSuffix, double dt, DoubleYoVariable slopTime, YoVariableRegistry registry, YoFrameTuple<?, ?> yoFrameTupleToProcess) { String xName = YoFrameVariableNameTools.createXName(namePrefix, nameSuffix); String yName = YoFrameVariableNameTools.createYName(namePrefix, nameSuffix); String zName = YoFrameVariableNameTools.createZName(namePrefix, nameSuffix); DoubleYoVariable xRaw = yoFrameTupleToProcess.getYoX(); DoubleYoVariable yRaw = yoFrameTupleToProcess.getYoY(); DoubleYoVariable zRaw = yoFrameTupleToProcess.getYoZ(); BacklashProcessingYoVariable x = new BacklashProcessingYoVariable(xName, "", xRaw, dt, slopTime, registry); BacklashProcessingYoVariable y = new BacklashProcessingYoVariable(yName, "", yRaw, dt, slopTime, registry); BacklashProcessingYoVariable z = new BacklashProcessingYoVariable(zName, "", zRaw, dt, slopTime, registry); ReferenceFrame referenceFrame = yoFrameTupleToProcess.getReferenceFrame(); return new BacklashProcessingYoFrameVector(x, y, z, registry, referenceFrame); }