moved filtered parameters and pd gains to higher level projects

removed unused visualizer types
ihmcrobotics · Oct 16, 2024 · f1a2d76 · f1a2d76
1 parent 67467a6
commit f1a2d76
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Showing 7 changed files with 28 additions and 470 deletions.
diff --git a/src/main/java/us/ihmc/scsVisualizers/filters/AccelerationLimitedYoVariableVisualizer.java b/src/main/java/us/ihmc/scsVisualizers/filters/AccelerationLimitedYoVariableVisualizer.java
@@ -3,7 +3,7 @@
 import us.ihmc.yoVariables.registry.YoRegistry;
 import us.ihmc.yoVariables.variable.YoDouble;
 import us.ihmc.robotics.math.filters.AccelerationLimitedYoVariable;
-import us.ihmc.robotics.math.filters.FilteredVelocityYoVariable;
+import us.ihmc.robotics.math.filters.FilteredFiniteDifferenceYoVariable;
 import us.ihmc.robotics.math.functionGenerator.YoFunctionGenerator;
 import us.ihmc.robotics.math.functionGenerator.YoFunctionGeneratorMode;
 import us.ihmc.simulationconstructionset.Robot;
@@ -24,8 +24,8 @@ public class AccelerationLimitedYoVariableVisualizer
 
    private final YoDouble raw;
    private final YoDouble alphaVariable;
-   private final FilteredVelocityYoVariable rawRate;
-   private final FilteredVelocityYoVariable rawAcceleration;
+   private final FilteredFiniteDifferenceYoVariable rawRate;
+   private final FilteredFiniteDifferenceYoVariable rawAcceleration;
 
    private static double amplitude = 2.0;
    private static double frequency = 0.1;
@@ -43,8 +43,8 @@ public AccelerationLimitedYoVariableVisualizer()
       raw = new YoDouble("raw", registry);
       alphaVariable = new YoDouble("alpha", registry);
       alphaVariable.set(0.0); //set to zero to prevent smoothing of velocity
-      rawRate = new FilteredVelocityYoVariable("rawRate", "", alphaVariable, raw, dt, registry);
-      rawAcceleration = new FilteredVelocityYoVariable("rawAcceleration", "", alphaVariable, rawRate, dt, registry);
+      rawRate = new FilteredFiniteDifferenceYoVariable("rawRate", "", alphaVariable, raw, dt, registry);
+      rawAcceleration = new FilteredFiniteDifferenceYoVariable("rawAcceleration", "", alphaVariable, rawRate, dt, registry);
 
       scs = new SimulationConstructionSet(robot);
       scs.changeBufferSize(bufferSize);

diff --git a/src/main/java/us/ihmc/scsVisualizers/filters/ButterworthFusedYoVariableVisualizer.java b/src/main/java/us/ihmc/scsVisualizers/filters/ButterworthFusedYoVariableVisualizer.java
diff --git a/...s/ihmc/scsVisualizers/filters/FiniteDifferenceAngularVelocityYoFrameVectorVisualizer.java b/...s/ihmc/scsVisualizers/filters/FiniteDifferenceAngularVelocityYoFrameVectorVisualizer.java
@@ -2,7 +2,7 @@
 
 import us.ihmc.euclid.referenceFrame.FrameQuaternion;
 import us.ihmc.euclid.referenceFrame.ReferenceFrame;
-import us.ihmc.robotics.math.filters.FiniteDifferenceAngularVelocityYoFrameVector;
+import us.ihmc.robotics.math.filters.FiniteDifferenceAngularVelocityYoFrameVector3D;
 import us.ihmc.robotics.math.trajectories.SimpleOrientationTrajectoryGenerator;
 import us.ihmc.simulationconstructionset.Robot;
 import us.ihmc.simulationconstructionset.SimulationConstructionSet;
@@ -27,7 +27,7 @@ public FiniteDifferenceAngularVelocityYoFrameVectorVisualizer()
       traj.initialize();
 
       YoFrameQuaternion orientationToDifferentiate = new YoFrameQuaternion("orientationToDifferentiate", worldFrame, registry);
-      FiniteDifferenceAngularVelocityYoFrameVector filteredAngularVelocityYoFrameVector = new FiniteDifferenceAngularVelocityYoFrameVector("angularVelocityFD", orientationToDifferentiate, dt, registry);
+      FiniteDifferenceAngularVelocityYoFrameVector3D filteredAngularVelocityYoFrameVector = new FiniteDifferenceAngularVelocityYoFrameVector3D("angularVelocityFD", orientationToDifferentiate, dt, registry);
 
       Robot robot = new Robot("Dummy");
       YoDouble yoTime = robot.getYoTime();

diff --git a/src/main/java/us/ihmc/scsVisualizers/filters/FirstOrderFilteredYoVariableVisualizer.java b/src/main/java/us/ihmc/scsVisualizers/filters/FirstOrderFilteredYoVariableVisualizer.java
@@ -1,8 +1,8 @@
 package us.ihmc.scsVisualizers.filters;
 
-import us.ihmc.robotics.math.filters.FirstOrderBandPassFilteredYoVariable;
-import us.ihmc.robotics.math.filters.FirstOrderFilteredYoVariable;
-import us.ihmc.robotics.math.filters.FirstOrderFilteredYoVariable.FirstOrderFilterType;
+import us.ihmc.robotics.math.filters.FirstOrderBandPassFilteredYoDouble;
+import us.ihmc.robotics.math.filters.FirstOrderFilteredYoDouble;
+import us.ihmc.robotics.math.filters.FirstOrderFilteredYoDouble.FirstOrderFilterType;
 import us.ihmc.simulationConstructionSetTools.util.inputdevices.MidiSliderBoard;
 import us.ihmc.simulationconstructionset.Robot;
 import us.ihmc.simulationconstructionset.SimulationConstructionSet;
@@ -56,9 +56,9 @@ private static class FilterController implements RobotController
       private final YoDouble minPassThroughFreq_radPerSec;
       private final YoDouble maxPassThroughFreq_radPerSec;
 
-      private final FirstOrderFilteredYoVariable highPass;
-      private final FirstOrderFilteredYoVariable lowPass;
-      private final FirstOrderBandPassFilteredYoVariable bandPass;
+      private final FirstOrderFilteredYoDouble highPass;
+      private final FirstOrderFilteredYoDouble lowPass;
+      private final FirstOrderBandPassFilteredYoDouble bandPass;
 
       private final YoDouble properAmplitudeHighPass;
       private final YoDouble properAmplitudeLowPass;
@@ -87,9 +87,15 @@ public FilterController(Robot robot, double DT, String name)
          this.maxPassThroughFreq_radPerSec = new YoDouble("maxFreq_radPerSec", registry);
          maxPassThroughFreq_radPerSec.set(100.0);
 
-         this.highPass = new FirstOrderFilteredYoVariable("highPass", "", minPassThroughFreq_radPerSec.getDoubleValue() / (2.0*Math.PI), robot.getYoTime(), FirstOrderFilterType.HIGH_PASS, registry);
-         this.lowPass = new FirstOrderFilteredYoVariable("lowPass", "", maxPassThroughFreq_radPerSec.getDoubleValue()  / (2.0*Math.PI), robot.getYoTime(), FirstOrderFilterType.LOW_PASS, registry);
-         this.bandPass = new FirstOrderBandPassFilteredYoVariable("bandPass", "", minPassThroughFreq_radPerSec.getDoubleValue() / (2.0*Math.PI), maxPassThroughFreq_radPerSec.getDoubleValue() / (2.0*Math.PI), robot.getYoTime(), registry);
+         this.highPass = new FirstOrderFilteredYoDouble("highPass", "", minPassThroughFreq_radPerSec.getDoubleValue() / (2.0 * Math.PI), robot.getYoTime(), FirstOrderFilterType.HIGH_PASS, registry);
+         this.lowPass = new FirstOrderFilteredYoDouble("lowPass", "", maxPassThroughFreq_radPerSec.getDoubleValue() / (2.0 * Math.PI), robot.getYoTime(), FirstOrderFilterType.LOW_PASS, registry);
+         this.bandPass = new FirstOrderBandPassFilteredYoDouble("bandPass",
+                                                                "",
+                                                                  minPassThroughFreq_radPerSec.getDoubleValue() / (2.0*Math.PI),
+                                                                  maxPassThroughFreq_radPerSec.getDoubleValue() / (2.0*Math.PI),
+                                                                robot.getYoTime(),
+                                                                FirstOrderBandPassFilteredYoDouble.FirstOrderFilterType.BAND,
+                                                                registry);
 
          this.properAmplitudeHighPass = new YoDouble("properAmplitudeHighPass", registry);
          this.properAmplitudeLowPass = new YoDouble("properAmplitudeLowPass", registry);