public static BacklashCompensatingVelocityYoFrameVector
createBacklashCompensatingVelocityYoFrameVector(
String namePrefix,
String nameSuffix,
DoubleYoVariable alpha,
double dt,
DoubleYoVariable slopTime,
YoVariableRegistry registry,
YoFramePoint yoFramePointToDifferentiate) {
BacklashCompensatingVelocityYoVariable xDot =
new BacklashCompensatingVelocityYoVariable(
YoFrameVariableNameTools.createXName(namePrefix, nameSuffix),
"",
alpha,
yoFramePointToDifferentiate.getYoX(),
dt,
slopTime,
registry);
BacklashCompensatingVelocityYoVariable yDot =
new BacklashCompensatingVelocityYoVariable(
YoFrameVariableNameTools.createYName(namePrefix, nameSuffix),
"",
alpha,
yoFramePointToDifferentiate.getYoY(),
dt,
slopTime,
registry);
BacklashCompensatingVelocityYoVariable zDot =
new BacklashCompensatingVelocityYoVariable(
YoFrameVariableNameTools.createZName(namePrefix, nameSuffix),
"",
alpha,
yoFramePointToDifferentiate.getYoZ(),
dt,
slopTime,
registry);
BacklashCompensatingVelocityYoFrameVector ret =
new BacklashCompensatingVelocityYoFrameVector(
xDot, yDot, zDot, registry, yoFramePointToDifferentiate);
return ret;
}
