Package org.chsrobotics.lib.math.filters

Class IntegratingFilter

java.lang.Object
org.chsrobotics.lib.math.filters.Filter
org.chsrobotics.lib.math.filters.IntegratingFilter
public class IntegratingFilter extends Filter
Filter which returns the time-weighted sum (integral) of a series of values.

Approximated with finite timesteps.

  • Constructor Summary

    Constructors
    Constructor
    Description
    IntegratingFilter(int window)
    Constructs an IntegratingFilter.

  • Method Summary

    Modifier and Type
    Method
    Description
    double
    calculate(double value)
    Adds the value to the window and calculates the current output of the filter.
    double
    calculate(double value, double dt)
    Adds the value to the window and calculates the current output of the filter, with a change in time since the last call of this.
    double
    getCurrentOutput()
    Returns the current output of the filter without updating with a new value.
    void
    reset()
    Resets the history of the filter.

    Methods inherited from class org.chsrobotics.lib.math.filters.Filter

    add, scalarMultiply

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Constructor Details

    • IntegratingFilter

      public IntegratingFilter(int window)
      Constructs an IntegratingFilter.
      Parameters:
      window - Number of values to look back in calculating the integral. If zero or negative, will instead be an indefinite window.

  • Method Details

    • calculate

      public double calculate(double value)
      Description copied from class: Filter
      Adds the value to the window and calculates the current output of the filter. If dt would be a required parameter for the filter, uses 20 milliseconds (the robot loop period).
      Specified by:
      calculate in class Filter
      Parameters:
      value - The value to input to the filter.
      Returns:
      The current output of the filter.

    • calculate

      public double calculate(double value, double dt)
      Description copied from class: Filter
      Adds the value to the window and calculates the current output of the filter, with a change in time since the last call of this.

      Some filters do not use time in their calculations, and this method is identical to calculate() for them.

      Specified by:
      calculate in class Filter
      Parameters:
      value - the value to input to the filter.
      dt - The change in time since the last call of the filter.
      Returns:
      The current output of the filter.

    • reset

      public void reset()
      Description copied from class: Filter
      Resets the history of the filter.
      Specified by:
      reset in class Filter

    • getCurrentOutput

      public double getCurrentOutput()
      Description copied from class: Filter
      Returns the current output of the filter without updating with a new value.
      Specified by:
      getCurrentOutput in class Filter
      Returns:
      The current output of the filter (0 if no values have been given to calculate()).