public YoPoint3D(String namePrefix, String nameSuffix, YoVariableRegistry registry) { x = new YoDouble(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry); y = new YoDouble(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry); z = new YoDouble(YoFrameVariableNameTools.createZName(namePrefix, nameSuffix), registry); }
public static RateLimitedYoFrameVector createRateLimitedYoFrameVector(String namePrefix, String nameSuffix, YoVariableRegistry registry, double maxRate, double dt, ReferenceFrame referenceFrame) { // alpha is a double RateLimitedYoVariable x = new RateLimitedYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry, maxRate, dt); RateLimitedYoVariable y = new RateLimitedYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry, maxRate, dt); RateLimitedYoVariable z = new RateLimitedYoVariable(YoFrameVariableNameTools.createZName(namePrefix, nameSuffix), registry, maxRate, dt); RateLimitedYoFrameVector ret = new RateLimitedYoFrameVector(x, y, z, referenceFrame); return ret; }
public static FilteredVelocityYoFrameVector createFilteredVelocityYoFrameVector(String namePrefix, String nameSuffix, DoubleYoVariable alpha, double dt, YoVariableRegistry registry, ReferenceFrame referenceFrame) { FilteredVelocityYoVariable xDot = new FilteredVelocityYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), "", alpha, dt, registry); FilteredVelocityYoVariable yDot = new FilteredVelocityYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), "", alpha, dt, registry); FilteredVelocityYoVariable zDot = new FilteredVelocityYoVariable(YoFrameVariableNameTools.createZName(namePrefix, nameSuffix), "", alpha, dt, registry); FilteredVelocityYoFrameVector ret = new FilteredVelocityYoFrameVector(xDot, yDot, zDot, alpha, dt, registry, referenceFrame); return ret; }
public static AverageSampleYoFrameVector createAverageSampleYoFrameVector(String namePrefix, String nameSuffix, YoVariableRegistry registry, ReferenceFrame referenceFrame) { AverageSampleDoubleYoVariable x = new AverageSampleDoubleYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry); AverageSampleDoubleYoVariable y = new AverageSampleDoubleYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry); AverageSampleDoubleYoVariable z = new AverageSampleDoubleYoVariable(YoFrameVariableNameTools.createZName(namePrefix, nameSuffix), registry); AverageSampleYoFrameVector ret = new AverageSampleYoFrameVector(x, y, z, referenceFrame); return ret; }
public static SimpleMovingAverageFilteredYoFrameVector createSimpleMovingAverageFilteredYoFrameVector(String namePrefix, String nameSuffix, int windowSize, ReferenceFrame referenceFrame, YoVariableRegistry registry) { String xName = createXName(namePrefix, nameSuffix); String yName = createYName(namePrefix, nameSuffix); String zName = createZName(namePrefix, nameSuffix); SimpleMovingAverageFilteredYoVariable x = new SimpleMovingAverageFilteredYoVariable(xName, windowSize, registry); SimpleMovingAverageFilteredYoVariable y = new SimpleMovingAverageFilteredYoVariable(yName, windowSize, registry); SimpleMovingAverageFilteredYoVariable z = new SimpleMovingAverageFilteredYoVariable(zName, windowSize, registry); return new SimpleMovingAverageFilteredYoFrameVector(x, y, z, referenceFrame); }
public YoFrameVector findYoFrameVector(String vectorPrefix, String vectorSuffix, ReferenceFrame vectorFrame) { DoubleYoVariable x = (DoubleYoVariable) scs.getVariable(createXName(vectorPrefix, vectorSuffix)); DoubleYoVariable y = (DoubleYoVariable) scs.getVariable(createYName(vectorPrefix, vectorSuffix)); DoubleYoVariable z = (DoubleYoVariable) scs.getVariable(createZName(vectorPrefix, vectorSuffix)); if (x == null || y == null || z == null) return null; else return new YoFrameVector(x, y, z, vectorFrame); }
public static SecondOrderFilteredYoFrameVector createSecondOrderFilteredYoFrameVector(String namePrefix, String nameSuffix, YoVariableRegistry registry, double dt, SecondOrderFilteredYoVariableParameters parameters, ReferenceFrame referenceFrame) { SecondOrderFilteredYoVariable x, y, z; x = new SecondOrderFilteredYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry, dt, parameters); y = new SecondOrderFilteredYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry, dt, parameters); z = new SecondOrderFilteredYoVariable(YoFrameVariableNameTools.createZName(namePrefix, nameSuffix), registry, dt, parameters); return new SecondOrderFilteredYoFrameVector(x, y, z, referenceFrame); }
public static DeadzoneYoFrameVector createDeadzoneYoFrameVector(String namePrefix, String nameSuffix, YoVariableRegistry registry, YoDouble deadzoneSize, ReferenceFrame referenceFrame) { DeadzoneYoVariable x = new DeadzoneYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), deadzoneSize, registry); DeadzoneYoVariable y = new DeadzoneYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), deadzoneSize, registry); DeadzoneYoVariable z = new DeadzoneYoVariable(YoFrameVariableNameTools.createZName(namePrefix, nameSuffix), deadzoneSize, registry); DeadzoneYoFrameVector ret = new DeadzoneYoFrameVector(x, y, z, referenceFrame); return ret; }
public YoFramePoint findYoFramePoint(String pointPrefix, String pointSuffix, ReferenceFrame pointFrame) { DoubleYoVariable x = (DoubleYoVariable) scs.getVariable(createXName(pointPrefix, pointSuffix)); DoubleYoVariable y = (DoubleYoVariable) scs.getVariable(createYName(pointPrefix, pointSuffix)); DoubleYoVariable z = (DoubleYoVariable) scs.getVariable(createZName(pointPrefix, pointSuffix)); if (x == null || y == null || z == null) return null; else return new YoFramePoint(x, y, z, pointFrame); }
public static AlphaFilteredYoFrameVector createAlphaFilteredYoFrameVector(String namePrefix, String nameSuffix, YoVariableRegistry registry, DoubleYoVariable alpha, ReferenceFrame referenceFrame) { // alpha is a double AlphaFilteredYoVariable x = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry, alpha); AlphaFilteredYoVariable y = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry, alpha); AlphaFilteredYoVariable z = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createZName(namePrefix, nameSuffix), registry, alpha); AlphaFilteredYoFrameVector ret = new AlphaFilteredYoFrameVector(x, y, z, referenceFrame); return ret; }
public YoFrameTuple(String namePrefix, String nameSuffix, ReferenceFrame referenceFrame, YoVariableRegistry registry) { this.namePrefix = namePrefix; this.nameSuffix = nameSuffix; x = new DoubleYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry); y = new DoubleYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry); z = new DoubleYoVariable(YoFrameVariableNameTools.createZName(namePrefix, nameSuffix), registry); this.referenceFrame = referenceFrame; this.frameTuple = createEmptyFrameTuple(); }
public static SimpleMovingAverageFilteredYoFrameVector createSimpleMovingAverageFilteredYoFrameVector(String namePrefix, String nameSuffix, int windowSize, ReferenceFrame referenceFrame, YoVariableRegistry registry) { String xName = createXName(namePrefix, nameSuffix); String yName = createYName(namePrefix, nameSuffix); String zName = createZName(namePrefix, nameSuffix); SimpleMovingAverageFilteredYoVariable x = new SimpleMovingAverageFilteredYoVariable(xName, windowSize, registry); SimpleMovingAverageFilteredYoVariable y = new SimpleMovingAverageFilteredYoVariable(yName, windowSize, registry); SimpleMovingAverageFilteredYoVariable z = new SimpleMovingAverageFilteredYoVariable(zName, windowSize, registry); return new SimpleMovingAverageFilteredYoFrameVector(x, y, z, referenceFrame); }
public static BacklashCompensatingVelocityYoFrameVector createBacklashCompensatingVelocityYoFrameVector(String namePrefix, String nameSuffix, YoDouble alpha, double dt, YoDouble slopTime, YoVariableRegistry registry, YoFramePoint3D yoFramePointToDifferentiate) { BacklashCompensatingVelocityYoVariable xDot = new BacklashCompensatingVelocityYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), "", alpha, yoFramePointToDifferentiate.getYoX(), dt, slopTime, registry); BacklashCompensatingVelocityYoVariable yDot = new BacklashCompensatingVelocityYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), "", alpha, yoFramePointToDifferentiate.getYoY(), dt, slopTime, registry); BacklashCompensatingVelocityYoVariable zDot = new BacklashCompensatingVelocityYoVariable(YoFrameVariableNameTools.createZName(namePrefix, nameSuffix), "", alpha, yoFramePointToDifferentiate.getYoZ(), dt, slopTime, registry); BacklashCompensatingVelocityYoFrameVector ret = new BacklashCompensatingVelocityYoFrameVector(xDot, yDot, zDot, registry, yoFramePointToDifferentiate); return ret; }
public static AverageSampleYoFrameVector createAverageSampleYoFrameVector(String namePrefix, String nameSuffix, YoVariableRegistry registry, YoFrameVector dataSource, ReferenceFrame referenceFrame) { AverageSampleDoubleYoVariable x = new AverageSampleDoubleYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), dataSource.getYoX(), registry); AverageSampleDoubleYoVariable y = new AverageSampleDoubleYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), dataSource.getYoY(), registry); AverageSampleDoubleYoVariable z = new AverageSampleDoubleYoVariable(YoFrameVariableNameTools.createZName(namePrefix, nameSuffix), dataSource.getYoZ(), registry); AverageSampleYoFrameVector ret = new AverageSampleYoFrameVector(x, y, z, referenceFrame); return ret; }
public static BacklashCompensatingVelocityYoFrameVector createBacklashCompensatingVelocityYoFrameVector(String namePrefix, String nameSuffix, DoubleYoVariable alpha, double dt, DoubleYoVariable slopTime, YoVariableRegistry registry, YoFramePoint yoFramePointToDifferentiate) { BacklashCompensatingVelocityYoVariable xDot = new BacklashCompensatingVelocityYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), "", alpha, yoFramePointToDifferentiate.getYoX(), dt, slopTime, registry); BacklashCompensatingVelocityYoVariable yDot = new BacklashCompensatingVelocityYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), "", alpha, yoFramePointToDifferentiate.getYoY(), dt, slopTime, registry); BacklashCompensatingVelocityYoVariable zDot = new BacklashCompensatingVelocityYoVariable(YoFrameVariableNameTools.createZName(namePrefix, nameSuffix), "", alpha, yoFramePointToDifferentiate.getYoZ(), dt, slopTime, registry); BacklashCompensatingVelocityYoFrameVector ret = new BacklashCompensatingVelocityYoFrameVector(xDot, yDot, zDot, registry, yoFramePointToDifferentiate); return ret; }
public static TimestampedVelocityYoFrameVector createFilteredVelocityYoFrameVector(String namePrefix, String nameSuffix, YoDouble timestamp, double dt, YoVariableRegistry registry, YoFramePoint3D yoFramePointToDifferentiate, double epsilonChange) { TimestampedVelocityYoVariable xDot = new TimestampedVelocityYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), "", yoFramePointToDifferentiate.getYoX(), timestamp, registry, epsilonChange); TimestampedVelocityYoVariable yDot = new TimestampedVelocityYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), "", yoFramePointToDifferentiate.getYoY(), timestamp, registry, epsilonChange); TimestampedVelocityYoVariable zDot = new TimestampedVelocityYoVariable(YoFrameVariableNameTools.createZName(namePrefix, nameSuffix), "", yoFramePointToDifferentiate.getYoZ(), timestamp, registry, epsilonChange); TimestampedVelocityYoFrameVector ret = new TimestampedVelocityYoFrameVector(xDot, yDot, zDot, yoFramePointToDifferentiate.getReferenceFrame()); return ret; }
public static AlphaFilteredYoFrameVector createAlphaFilteredYoFrameVector(String namePrefix, String nameSuffix, YoVariableRegistry registry, DoubleYoVariable alpha, YoFramePoint unfilteredPosition) { // alpha is a YoVariable AlphaFilteredYoVariable x = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry, alpha, unfilteredPosition.getYoX()); AlphaFilteredYoVariable y = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry, alpha, unfilteredPosition.getYoY()); AlphaFilteredYoVariable z = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createZName(namePrefix, nameSuffix), registry, alpha, unfilteredPosition.getYoZ()); AlphaFilteredYoFrameVector ret = new AlphaFilteredYoFrameVector(x, y, z, unfilteredPosition.getReferenceFrame()); return ret; }
public static AlphaFilteredYoFramePoint createAlphaFilteredYoFramePoint(String namePrefix, String nameSuffix, YoVariableRegistry registry, DoubleYoVariable alpha, YoFramePoint unfilteredPoint) { // alpha is a YoVariable AlphaFilteredYoVariable x = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry, alpha, unfilteredPoint.getYoX()); AlphaFilteredYoVariable y = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry, alpha, unfilteredPoint.getYoY()); AlphaFilteredYoVariable z = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createZName(namePrefix, nameSuffix), registry, alpha, unfilteredPoint.getYoZ()); AlphaFilteredYoFramePoint ret = new AlphaFilteredYoFramePoint(x, y, z, unfilteredPoint.getReferenceFrame()); return ret; }
public static RateLimitedYoFrameVector createRateLimitedYoFrameVector(String namePrefix, String nameSuffix, YoVariableRegistry registry, double maxRate, double dt, YoFrameVector unfilteredVector) { // alpha is a double RateLimitedYoVariable x = new RateLimitedYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry, maxRate, unfilteredVector.getYoX(), dt); RateLimitedYoVariable y = new RateLimitedYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry, maxRate, unfilteredVector.getYoY(), dt); RateLimitedYoVariable z = new RateLimitedYoVariable(YoFrameVariableNameTools.createZName(namePrefix, nameSuffix), registry, maxRate, unfilteredVector.getYoZ(), dt); RateLimitedYoFrameVector ret = new RateLimitedYoFrameVector(x, y, z, unfilteredVector.getReferenceFrame()); return ret; }
public static RateLimitedYoFrameVector createRateLimitedYoFrameVector(String namePrefix, String nameSuffix, YoVariableRegistry registry, DoubleYoVariable maxRate, double dt, YoFrameVector unfilteredVector) { // alpha is a YoVariable RateLimitedYoVariable x = new RateLimitedYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry, maxRate, unfilteredVector.getYoX(), dt); RateLimitedYoVariable y = new RateLimitedYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry, maxRate, unfilteredVector.getYoY(), dt); RateLimitedYoVariable z = new RateLimitedYoVariable(YoFrameVariableNameTools.createZName(namePrefix, nameSuffix), registry, maxRate, unfilteredVector.getYoZ(), dt); RateLimitedYoFrameVector ret = new RateLimitedYoFrameVector(x, y, z, unfilteredVector.getReferenceFrame()); return ret; }