us.ihmc.robotics.math.YoSignalDerivative类的使用及代码示例

x33g5p2x  于2022-02-05 转载在 其他  
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本文整理了Java中us.ihmc.robotics.math.YoSignalDerivative类的一些代码示例，展示了YoSignalDerivative类的具体用法。这些代码示例主要来源于Github/Stackoverflow/Maven等平台，是从一些精选项目中提取出来的代码，具有较强的参考意义，能在一定程度帮忙到你。YoSignalDerivative类的具体详情如下：
包路径：us.ihmc.robotics.math.YoSignalDerivative
类名称：YoSignalDerivative

YoSignalDerivative介绍

[英]This class computes the derivative of the input signal in two different ways. The first way is the common differentiation using the DT. The second way is a less noisy differentiation that waits for a change in the signal. In this case can be specified a tolerance to detect the change in the signal.
[中]这个类用两种不同的方式计算输入信号的导数。第一种方法是使用DT进行公共微分。第二种方法是一种噪声较小的微分，等待信号发生变化。在这种情况下，可以指定一个公差来检测信号的变化。

代码示例

代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit-test

@Before
public void setUp() throws Exception
{
 YoVariableRegistry registry = new YoVariableRegistry("testRegistry");
 yoSignalDerivative = new YoSignalDerivative("test", registry);
}

代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit-test

@ContinuousIntegrationTest(estimatedDuration = 0.0)
  @Test(timeout = 30000)
  public void checkResetToZero()
  {
   yoSignalDerivative.initialize(DifferentiationMode.ON_SIGNAL_CHANGE, 1.0, 0.5, 3.0);
   yoSignalDerivative.resetToZero();
   
   double derivative = yoSignalDerivative.getDerivative(1.5, 1);
   assertEquals(1.5, derivative, epsilon);
  }
}

代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit-test

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void checkSetDifferentiationMode()
{
 yoSignalDerivative.setDifferentiationMode(DifferentiationMode.ON_SIGNAL_CHANGE);
 DifferentiationMode differentiationMode = yoSignalDerivative.getDifferentiationMode();
 assertEquals(DifferentiationMode.ON_SIGNAL_CHANGE, differentiationMode);
 
 yoSignalDerivative.setDifferentiationMode(DifferentiationMode.USING_DT);
 DifferentiationMode differentiationMode2 = yoSignalDerivative.getDifferentiationMode();
 assertEquals(DifferentiationMode.USING_DT, differentiationMode2);
}

代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit-test

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void checkDTMode()
{
 yoSignalDerivative.initialize(DifferentiationMode.USING_DT, 0.5, 0.0, 0.0);
 DifferentiationMode differentiationMode = yoSignalDerivative.getDifferentiationMode();
 assertEquals(DifferentiationMode.USING_DT, differentiationMode);
 
 double derivative = yoSignalDerivative.getDerivative(1, 0.5);
 assertEquals(1, derivative, epsilon);
 
 double derivative2 = yoSignalDerivative.getDerivative(0.5, 1);
 assertEquals(-1, derivative2, epsilon);
 
 double derivative3 = yoSignalDerivative.getDerivative(4, 2);
 assertEquals(3.5, derivative3, epsilon);
 
 double derivative4 = yoSignalDerivative.getDerivative(4, 3);
 assertEquals(0.0, derivative4, epsilon);
}

代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit

signalDerivative = new YoSignalDerivative(name, registry);
signalDerivative.setDifferentiationMode(DifferentiationMode.USING_DT);
signalDerivative.resetToZero();

代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit

public void initialize(DifferentiationMode mode, double initialSignal, double initialTime, double initialDerivative)
{
 initialize(mode, DEFAULT_TOLERANCE, initialSignal, initialTime, initialDerivative);
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

public void initialize(DifferentiationMode mode, double tolerance, double initialSignal, double initialTime, double initialDerivative)
{
 setDifferentiationMode(mode);
 previousDerivative.set(initialDerivative);
 previousSignal.set(initialSignal);
 previousTime.set(initialTime);
 lastSignalChange.set(initialSignal);
 timeAtLastSignalChange.set(initialTime);
 this.tolerance.set(tolerance);
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

public YoSignalDerivative(String name, YoVariableRegistry registry)
{
 this.name = name;
 differentiationMode = new EnumYoVariable<DifferentiationMode>(name + "_differentiationMode", registry, DifferentiationMode.class);
 previousDerivative = new DoubleYoVariable(name + "_previousDerivative", registry);
 previousSignal = new DoubleYoVariable(name + "_previousSignal", registry);
 timeAtLastSignalChange = new DoubleYoVariable(name + "_timeAtLastSignalChange", registry);
 previousTime = new DoubleYoVariable(name + "_previousTime", registry);
 tolerance = new DoubleYoVariable(name + "_tolerance", registry);
 lastSignalChange = new DoubleYoVariable(name + "_lastSignalChange", registry);
 tolerance.set(DEFAULT_TOLERANCE);
 resetToZero();
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

double velocity = signalDerivative.getDerivative(value.getDoubleValue(), timeInCurrentMode.getDoubleValue());
if(velocity > Double.MAX_VALUE || velocity < -Double.MAX_VALUE)
 velocity = 0.0;
signalDerivative.getDerivative(value.getDoubleValue(), timeInCurrentMode.getDoubleValue());

代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit-test

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void checkConstructor()
{
 String name = yoSignalDerivative.getName();
 assertEquals("test", name);
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

signalDerivative = new YoSignalDerivative(name, registry);
signalDerivative.setDifferentiationMode(DifferentiationMode.USING_DT);
signalDerivative.resetToZero();

代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit-test

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void checkSignalChangeModeWithDefaultTolerance()
{
 yoSignalDerivative.initialize(DifferentiationMode.ON_SIGNAL_CHANGE, 0.0, 0.1, 4.0);
 DifferentiationMode differentiationMode = yoSignalDerivative.getDifferentiationMode();
 assertEquals(DifferentiationMode.ON_SIGNAL_CHANGE, differentiationMode);
 
 double derivative = yoSignalDerivative.getDerivative(0.0, 0.25);
 assertEquals(4.0, derivative, epsilon);
 
 double derivative2 = yoSignalDerivative.getDerivative(1, 0.5);
 assertEquals(2.5, derivative2, epsilon);
 
 double derivative3 = yoSignalDerivative.getDerivative(0.5, 1);
 assertEquals(-1, derivative3, epsilon);
 
 double derivative4 = yoSignalDerivative.getDerivative(4, 2);
 assertEquals(3.5, derivative4, epsilon);
 
 double derivative5 = yoSignalDerivative.getDerivative(4, 3);
 assertEquals(3.5, derivative5, epsilon);
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

public void initialize(DifferentiationMode mode, double initialSignal, double initialTime, double initialDerivative)
{
 initialize(mode, DEFAULT_TOLERANCE, initialSignal, initialTime, initialDerivative);
}

代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit

public void initialize(DifferentiationMode mode, double tolerance, double initialSignal, double initialTime, double initialDerivative)
{
 setDifferentiationMode(mode);
 previousDerivative.set(initialDerivative);
 previousSignal.set(initialSignal);
 previousTime.set(initialTime);
 lastSignalChange.set(initialSignal);
 timeAtLastSignalChange.set(initialTime);
 this.tolerance.set(tolerance);
}

代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit

public YoSignalDerivative(String name, YoVariableRegistry registry)
{
 this.name = name;
 differentiationMode = new YoEnum<DifferentiationMode>(name + "_differentiationMode", registry, DifferentiationMode.class);
 previousDerivative = new YoDouble(name + "_previousDerivative", registry);
 previousSignal = new YoDouble(name + "_previousSignal", registry);
 timeAtLastSignalChange = new YoDouble(name + "_timeAtLastSignalChange", registry);
 previousTime = new YoDouble(name + "_previousTime", registry);
 tolerance = new YoDouble(name + "_tolerance", registry);
 lastSignalChange = new YoDouble(name + "_lastSignalChange", registry);
 tolerance.set(DEFAULT_TOLERANCE);
 resetToZero();
}

代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit

double velocity = signalDerivative.getDerivative(value.getDoubleValue(), timeInCurrentMode.getDoubleValue());
if(velocity > Double.MAX_VALUE || velocity < -Double.MAX_VALUE)
 velocity = 0.0;
signalDerivative.getDerivative(value.getDoubleValue(), timeInCurrentMode.getDoubleValue());

代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit-test

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void checkSignalChangeModeWithUserTolerance()
{
 yoSignalDerivative.initialize(DifferentiationMode.ON_SIGNAL_CHANGE, 0.1, 0.0, 0.0, 0.0);
 DifferentiationMode differentiationMode = yoSignalDerivative.getDifferentiationMode();
 assertEquals(DifferentiationMode.ON_SIGNAL_CHANGE, differentiationMode);
 
 double derivative = yoSignalDerivative.getDerivative(1, 0.5);
 assertEquals(2, derivative, epsilon);
 
 double derivative2 = yoSignalDerivative.getDerivative(0.5, 1);
 assertEquals(-1, derivative2, epsilon);
 
 double derivative3 = yoSignalDerivative.getDerivative(4, 2);
 assertEquals(3.5, derivative3, epsilon);
 
 double derivative4 = yoSignalDerivative.getDerivative(4, 3);
 assertEquals(3.5, derivative4, epsilon);
 
 double derivative5 = yoSignalDerivative.getDerivative(4.09, 4);
 assertEquals(3.5, derivative5, epsilon);
 
 double derivative6 = yoSignalDerivative.getDerivative(4.108, 5);
 assertEquals(0.036, derivative6, epsilon);
}

代码示例来源：origin: us.ihmc/IHMCRoboticsToolkit

private void performModeChangeAction(double time)
{
 modeChanged = true;
 timeModeChanged.set(time);
 timeInCurrentMode.set(time - timeModeChanged.getDoubleValue());
 signalDerivative.initialize(DifferentiationMode.USING_DT, value.getDoubleValue(), timeInCurrentMode.getDoubleValue(), valueDot.getDoubleValue());
}

代码示例来源：origin: us.ihmc/ihmc-robotics-toolkit

private void performModeChangeAction(double time)
{
 modeChanged = true;
 timeModeChanged.set(time);
 timeInCurrentMode.set(time - timeModeChanged.getDoubleValue());
 signalDerivative.initialize(DifferentiationMode.USING_DT, value.getDoubleValue(), timeInCurrentMode.getDoubleValue(), valueDot.getDoubleValue());
}

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