com.ridgesoft.robotics
Class Smoother

java.lang.Object
  com.ridgesoft.robotics.Smoother

public class Smoother
extends Object

Implements a linear smoothing function to filter noise from the intput signal.

The smoothing equation is:

value = factor * previousValue + (1.0 - factor) * sample

Constructor Summary

Smoother(float smoothingFactor, float seed)
Creates a Smoother.

Method Summary

float

smooth(float sample) Smooths the next sample.

Methods inherited from class java.lang.Object

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

Constructor Detail

Smoother

public Smoother(float smoothingFactor,
                float seed)

Creates a Smoother.

Parameters:

smoothingFactor - the factor to use when smoothing (0.0 < smoothingFactor < 1.0). The smaller the value, the less smoothing is done.

seed - initial value to prime to smoother

Method Detail

smooth

public float smooth(float sample)

Smooths the next sample.

Parameters:

sample - raw sample value coming from a sensor

Returns:

smoothed value