@Override public ReferenceFrame getReferenceFrame() { return desiredVelocity.getReferenceFrame(); } }
public void setDesiredVelocity(FrameVector2d newDesiredVelocity) { newDesiredVelocity.changeFrame(desiredVelocity.getReferenceFrame()); desiredVelocity.set(newDesiredVelocity); }
public void update(YoFrameVector2d vector) { checkReferenceFrameMatch(vector.getReferenceFrame()); xDot.update(vector.getX()); yDot.update(vector.getY()); }
public static AccelerationLimitedYoFrameVector2d createAccelerationLimitedYoFrameVector2d(String namePrefix, String nameSuffix, YoVariableRegistry registry, DoubleYoVariable maxRate, DoubleYoVariable maxAcceleration, double dt, YoFrameVector2d unfilteredVector) { AccelerationLimitedYoVariable x = new AccelerationLimitedYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry, maxRate, maxAcceleration, unfilteredVector.getYoX(), dt); AccelerationLimitedYoVariable y = new AccelerationLimitedYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry, maxRate, maxAcceleration, unfilteredVector.getYoY(), dt); AccelerationLimitedYoFrameVector2d ret = new AccelerationLimitedYoFrameVector2d(x, y, unfilteredVector.getReferenceFrame()); return ret; }
public static AlphaFilteredYoFrameVector2d createAlphaFilteredYoFrameVector2d(String namePrefix, String nameSuffix, YoVariableRegistry registry, double alpha, YoFrameVector2d unfilteredVector) { // alpha is a double AlphaFilteredYoVariable x = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry, alpha, unfilteredVector.getYoX()); AlphaFilteredYoVariable y = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry, alpha, unfilteredVector.getYoY()); AlphaFilteredYoFrameVector2d ret = new AlphaFilteredYoFrameVector2d(x, y, unfilteredVector.getReferenceFrame()); return ret; }
public static RateLimitedYoFrameVector2d createRateLimitedYoFrameVector2d(String namePrefix, String nameSuffix, YoVariableRegistry registry, DoubleYoVariable maxRate, double dt, YoFrameVector2d unfilteredVector) { 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); RateLimitedYoFrameVector2d ret = new RateLimitedYoFrameVector2d(x, y, unfilteredVector.getReferenceFrame()); return ret; }
public static BetaFilteredYoFrameVector2d createBetaFilteredYoFrameVector2d(String namePrefix, String nameSuffix, YoVariableRegistry registry, int beta, YoFrameVector2d unfilteredVector) { // beta is a int BetaFilteredYoVariable x = new BetaFilteredYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), registry, beta, unfilteredVector.getYoX()); BetaFilteredYoVariable y = new BetaFilteredYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), registry, beta, unfilteredVector.getYoY()); BetaFilteredYoFrameVector2d ret = new BetaFilteredYoFrameVector2d(x, y, unfilteredVector.getReferenceFrame()); return ret; }
public static AlphaFilteredYoFrameVector2d createAlphaFilteredYoFrameVector2d(String namePrefix, String nameSuffix, String description, YoVariableRegistry registry, DoubleYoVariable alpha, YoFrameVector2d unfilteredVector) { // alpha is a YoVariable AlphaFilteredYoVariable x = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createXName(namePrefix, nameSuffix), description, registry, alpha, unfilteredVector.getYoX()); AlphaFilteredYoVariable y = new AlphaFilteredYoVariable(YoFrameVariableNameTools.createYName(namePrefix, nameSuffix), description, registry, alpha, unfilteredVector.getYoY()); AlphaFilteredYoFrameVector2d ret = new AlphaFilteredYoFrameVector2d(x, y, unfilteredVector.getReferenceFrame()); return ret; }
public static RateLimitedYoFrameVector2d createRateLimitedYoFrameVector2d(String namePrefix, String nameSuffix, YoVariableRegistry registry, double maxRate, double dt, YoFrameVector2d unfilteredVector) { 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); RateLimitedYoFrameVector2d ret = new RateLimitedYoFrameVector2d(x, y, unfilteredVector.getReferenceFrame()); return ret; }