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; }