org.usfirst.frc.team1736.lib.SignalMath

Class InterpValueHistoryBuffer

java.lang.Object

org.usfirst.frc.team1736.lib.SignalMath.InterpValueHistoryBuffer

public class InterpValueHistoryBuffer
extends java.lang.Object

Constructor Summary

Constructors

Constructor and Description
InterpValueHistoryBuffer(int length, double init_val) This class implements a set of circular buffers that can be used to store values of signals in the past, and retrieve values at arbitrary previous time indexes.

Method Summary

Modifier and Type	Method and Description
double	getValAtTime(double time) Returns the value at a given time, linearlly interpolated.
boolean	insert(double time, double value) Insert a new value into the buffer.

Methods inherited from class java.lang.Object

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

Constructor Detail

InterpValueHistoryBuffer

public InterpValueHistoryBuffer(int length,
                                double init_val)

This class implements a set of circular buffers that can be used to store values of signals in the past, and retrieve values at arbitrary previous time indexes. The value is assumed to saturate at the end of the maintained history.

Parameters:

length - Number of samples to keep

init_val - Value to fill the inital samples with (probably zero is fine)

Method Detail

insert

public boolean insert(double time,
                      double value)

Insert a new value into the buffer. Discards the oldest value.

Parameters:

time - Time at which the value was sampled. elements must be inserted in a monotomically increasing fashion

value - Value of the signal right now

Returns:

true if the value was inserted, false otherwise

getValAtTime

public double getValAtTime(double time)

Returns the value at a given time, linearlly interpolated.

Parameters:

time - time at which to retrieve value

Returns:

value at inputted time.