Package lejos.robotics.filter

Class IntegrationFilter

java.lang.Object

lejos.robotics.filter.AbstractFilter

lejos.robotics.filter.IntegrationFilter

All Implemented Interfaces:

SampleProvider

public class IntegrationFilter
extends AbstractFilter

Integrates samples over time.
Usefull for example to:

• convert gyro output (degrees/second) to azymuth (Degrees)
• Acceleration to speed
• Speed to position

Field Summary

Fields

Modifier and Type	Field and Description
private float[]	currentValue
private long	lastTime
private static float	NANO

Fields inherited from class lejos.robotics.filter.AbstractFilter

sampleSize, source

Constructor Summary

Constructors

Constructor and Description
IntegrationFilter(SampleProvider source)

Method Summary

Modifier and Type	Method and Description
void	fetchSample(float[] sample, int off) Fetches a sample from the source and then integrates it.
void	resetTo(float value) Sets the current value of the integrator to the specified value.

Methods inherited from class lejos.robotics.filter.AbstractFilter

sampleSize

Methods inherited from class java.lang.Object

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

Field Detail

lastTime

private long lastTime

currentValue

private final float[] currentValue

NANO

private static final float NANO

Constructor Detail

IntegrationFilter

public IntegrationFilter(SampleProvider source)

Method Detail

resetTo

public void resetTo(float value)

Sets the current value of the integrator to the specified value.

Parameters:

value - The value

fetchSample

public void fetchSample(float[] sample,
                        int off)

Fetches a sample from the source and then integrates it.

Specified by:

fetchSample in interface SampleProvider

Overrides:

fetchSample in class AbstractFilter

Parameters:

sample - The array to store the sample in.

off - The elements of the sample are stored in the array starting at the offset position.

See Also:

AbstractFilter.fetchSample(float[], int)