Package lejos.utility

Class Integration

java.lang.Object

lejos.utility.Integration

public class Integration
extends java.lang.Object

Integrate sensor measurement over time, e.g. to calculate velocity from acceleration or angle from angular velocity.

Field Summary

Fields

Modifier and Type	Field and Description
private double	integral
private double	lastReading
private long	lastReadingMillis

Constructor Summary

Constructors

Constructor and Description
Integration(double initialValue, double reading) Create the integration object with the initial value for the integral value and the initial reading.

Method Summary

Modifier and Type	Method and Description
double	addReading(double reading) Add a new reading and return the current integral

Methods inherited from class java.lang.Object

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

Field Detail

lastReadingMillis

private long lastReadingMillis

lastReading

private double lastReading

integral

private double integral

Constructor Detail

Integration

public Integration(double initialValue,
                   double reading)

Create the integration object with the initial value for the integral value and the initial reading.

Parameters:

initialValue - the initial value for the integral

reading - the initial reading

Method Detail

addReading

public double addReading(double reading)

Add a new reading and return the current integral

Parameters:

reading - the reading as a double

Returns:

the current value of the integral