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Feature/move wbcc #1

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Feature/move wbcc #1

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f1a2d76
moved filtered parameters and pd gains to higher level projects
rjgriffin42 Oct 14, 2024
19375bf
moved yo variables and math to their own packages
rjgriffin42 Oct 16, 2024
ced4ff2
did considerable package movement, but solidified how the extracted r…
rjgriffin42 Oct 16, 2024
705343d
:arrow_up: euclid 0.22.2
rjgriffin42 Oct 30, 2024
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4 changes: 2 additions & 2 deletions build.gradle
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Original file line number Diff line number Diff line change
Expand Up @@ -16,8 +16,8 @@ ihmc {
}

mainDependencies {
api("us.ihmc:euclid-frame:0.21.0")
api("us.ihmc:euclid-shape:0.21.0")
api("us.ihmc:euclid-frame:0.22.2")
api("us.ihmc:euclid-shape:0.22.2")
api("org.ejml:ejml-ddense:0.39")
api("org.ejml:ejml-core:0.39")
api("net.sf.trove4j:trove4j:3.0.3")
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2 changes: 1 addition & 1 deletion ...ain/java/us/ihmc/robotics/math/filters/IntegratorBiasCompensatorYoVariableVisualizer.java
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Expand Up @@ -2,7 +2,7 @@

import java.util.Random;

import us.ihmc.robotics.geometry.AngleTools;
import us.ihmc.commons.AngleTools;
import us.ihmc.simulationconstructionset.Robot;
import us.ihmc.simulationconstructionset.SimulationConstructionSet;
import us.ihmc.simulationconstructionset.SimulationConstructionSetParameters;
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12 changes: 6 additions & 6 deletions src/main/java/us/ihmc/scsVisualizers/filters/AccelerationLimitedYoVariableVisualizer.java
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Expand Up @@ -2,8 +2,8 @@

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.yoVariables.filters.AccelerationLimitedYoVariable;
import us.ihmc.yoVariables.filters.FilteredFiniteDifferenceYoVariable;
import us.ihmc.robotics.math.functionGenerator.YoFunctionGenerator;
import us.ihmc.robotics.math.functionGenerator.YoFunctionGeneratorMode;
import us.ihmc.simulationconstructionset.Robot;
Expand All @@ -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;
Expand All @@ -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);
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2 changes: 1 addition & 1 deletion src/main/java/us/ihmc/scsVisualizers/filters/AlphaFilteredWrappingYoVariableVisualizer.java
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Expand Up @@ -6,7 +6,7 @@
import us.ihmc.yoVariables.registry.YoRegistry;
import us.ihmc.yoVariables.variable.YoDouble;
import us.ihmc.yoVariables.variable.YoLong;
import us.ihmc.robotics.math.filters.AlphaFilteredWrappingYoVariable;
import us.ihmc.yoVariables.filters.AlphaFilteredWrappingYoVariable;
import us.ihmc.simulationconstructionset.Robot;
import us.ihmc.simulationconstructionset.SimulationConstructionSet;
import us.ihmc.simulationconstructionset.SimulationConstructionSetParameters;
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225 changes: 0 additions & 225 deletions src/main/java/us/ihmc/scsVisualizers/filters/ButterworthFusedYoVariableVisualizer.java
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This file was deleted.

6 changes: 3 additions & 3 deletions ...s/ihmc/scsVisualizers/filters/FiniteDifferenceAngularVelocityYoFrameVectorVisualizer.java
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Expand Up @@ -2,8 +2,8 @@

import us.ihmc.euclid.referenceFrame.FrameQuaternion;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
import us.ihmc.robotics.math.filters.FiniteDifferenceAngularVelocityYoFrameVector;
import us.ihmc.robotics.math.trajectories.SimpleOrientationTrajectoryGenerator;
import us.ihmc.robotics.math.trajectories.core.SimpleOrientationTrajectoryGenerator;
import us.ihmc.yoVariables.euclid.filters.FiniteDifferenceAngularVelocityYoFrameVector3D;
import us.ihmc.simulationconstructionset.Robot;
import us.ihmc.simulationconstructionset.SimulationConstructionSet;
import us.ihmc.simulationconstructionset.SimulationConstructionSetParameters;
Expand All @@ -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();
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23 changes: 14 additions & 9 deletions src/main/java/us/ihmc/scsVisualizers/filters/FirstOrderFilteredYoVariableVisualizer.java
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@@ -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.yoVariables.filters.FirstOrderBandPassFilteredYoDouble;
import us.ihmc.yoVariables.filters.FirstOrderFilteredYoDouble;
import us.ihmc.yoVariables.filters.FirstOrderFilteredYoDouble.FirstOrderFilterType;
import us.ihmc.simulationConstructionSetTools.util.inputdevices.MidiSliderBoard;
import us.ihmc.simulationconstructionset.Robot;
import us.ihmc.simulationconstructionset.SimulationConstructionSet;
Expand Down Expand Up @@ -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;
Expand Down Expand Up @@ -87,9 +87,14 @@ 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(),
registry);

this.properAmplitudeHighPass = new YoDouble("properAmplitudeHighPass", registry);
this.properAmplitudeLowPass = new YoDouble("properAmplitudeLowPass", registry);
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