Package trclib.dataprocessor

Class TrcUtil

java.lang.Object
trclib.dataprocessor.TrcUtil
public class TrcUtil extends Object
This class contains platform independent utility methods. All methods in this class are static. It is not necessary to instantiate this class to call its methods.

  • Nested Class Summary

    Nested Classes
    Modifier and Type
    Class
    Description
    static interface 
    TrcUtil.DataSupplier<T>
    This interface provides the method to get data of the specified type.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static final double
    BATTERY_NOMINAL_VOLTAGE
     
    static final double
    EARTH_GRAVITATIONAL_CONSTANT
     
    static final double
    INCHES_PER_CM
     
    static final double
    INCHES_PER_METER
     
    static final double
    INCHES_PER_MM
     
    static final double
    METERS_PER_INCH
     
    static final double
    MM_PER_INCH
     

  • Constructor Summary

    Constructors
    Constructor
    Description
    TrcUtil()
     

  • Method Summary

    Modifier and Type
    Method
    Description
    static double
    applyDeadband(double value, double deadband)
    This method checks if the given value is within the deadband range.
    static double
    average(double... nums)
    This method calculates and returns the average of the numbers in the given array.
    static int
    bytesToInt(byte data)
    This method converts a byte into an integer.
    static int
    bytesToInt(byte low, byte high)
    This method combines two bytes into an integer.
    static int
    bytesToInt(byte data1, byte data2, byte data3, byte data4)
    This method combines two bytes into an integer.
    static short
    bytesToShort(byte low, byte high)
    This method combines two bytes into a short.
    static double
    clipRange(double value)
    This method clips the given value to the range between -1.0 and 1.0.
    static double
    clipRange(double value, double limit)
    This method clips the given value to the range limited by -limit as the low limit and limit as the high limit.
    static double
    clipRange(double value, double lowLimit, double highLimit)
    This method clips the given value to the range limited by the given low and high limits.
    static int
    clipRange(int value, int lowLimit, int highLimit)
    This method clips the given value to the range limited by the given low and high limits.
    static org.apache.commons.math3.linear.RealMatrix
    createCCWRotationMatrix(double angle)
    Create a rotation matrix that will rotate a point counter-clockwise about the origin by a specific number of degrees.
    static org.apache.commons.math3.linear.RealMatrix
    createCWRotationMatrix(double angle)
    Create a rotation matrix that will rotate a point clockwise about the origin by a specific number of degrees.
    static org.apache.commons.math3.linear.RealVector
    createVector(double... vector)
    Create an ArrayRealVector with the supplied numbers.
    static boolean
    inRange(double value, double low, double high)
    This method checks if the given value is within the specified range inclusive.
    static boolean
    inRange(double value, double low, double high, boolean inclusive)
    This method checks if the given value is within the specified range.
    static boolean
    inRange(int value, int low, int high)
    This method checks if the given value is within the specified range inclusive.
    static boolean
    inRange(int value, int low, int high, boolean inclusive)
    This method checks if the given value is within the specified range.
    static byte
    intToByte(int data, int index)
    This method returns the indexed byte of an integer.
    static int
    leastSignificantSetBit(int data)
    This method returns a bit mask of the least significant set bit.
    static int
    leastSignificantSetBitPosition(int data)
    This method returns the bit position of the least significant set bit of the given data.
    static double
    magnitude(double... nums)
    This method calculates the magnitudes of the given array of numbers.
    static double
    maxMagnitude(double... nums)
    This method returns the maximum magnitude of numbers in the specified array.
    static double
    median(double... num)
    This method calculates and returns the median of the numbers in the given array.
    static double
    modulo(double a, double b)
    This method calculates the modulo of two numbers.
    static int
    mostSignificantSetBit(int data)
    This method returns a bit mask of the least significant set bit.
    static int
    mostSignificantSetBitPosition(int data)
    This method returns the bit position of the most significant set bit of the given data.
    static double[]
    normalize(double... nums)
    This method normalizes the given array of numbers such that no number exceeds +/- 1.0.
    static void
    normalizeInPlace(double[] nums)
    This method normalizes the given array of numbers such that no number exceeds +/- 1.0.
    static org.apache.commons.math3.linear.RealVector
    polarToCartesian(double r, double theta)
    Convert a point from a polar coordinate system to a cartesian coordinate system.
    static org.apache.commons.math3.linear.RealVector
    rotateCCW(org.apache.commons.math3.linear.RealVector vector, double angle)
    Rotate a point counter-clockwise about the origin.
    static org.apache.commons.math3.linear.RealVector
    rotateCW(org.apache.commons.math3.linear.RealVector vector, double angle)
    Rotate a point clockwise about the origin.
    static int
    round(double num)
    This method rounds a double to the nearest integer.
    static double
    round(double num, double precision)
    This method rounds a double to the specified precision.
    static double
    scaleRange(double value, double lowSrcRange, double highSrcRange, double lowDstRange, double highDstRange)
    This method scales the given value from the source range to the target range.
    static int
    scaleRange(int value, int lowSrcRange, int highSrcRange, int lowDstRange, int highDstRange)
    This method scales the given value from the source range to the target range.
    static int
    setBitMask(int... bitPositions)
    This method sets a bitmask with the given bit positions.
    static double
    sum(double... nums)
    This method sums an array of numbers.

    Methods inherited from class java.lang.Object

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

  • Field Details

  • Constructor Details

    • TrcUtil

      public TrcUtil()

  • Method Details

    • modulo

      public static double modulo(double a, double b)
      This method calculates the modulo of two numbers. Unlike the % operator, this returns a number in the range [0, b). For some reason, in Java, the % operator actually does remainder, which means the result is in the range (-b, b).
      Parameters:
      a - specifies the dividend.
      b - specifies the divisor.
      Returns:
      the modulo in the range [0, b)

    • sum

      public static double sum(double... nums)
      This method sums an array of numbers.
      Parameters:
      nums - specifies the array of numbers to be summed.
      Returns:
      sum of the numbers.

    • median

      public static double median(double... num)
      This method calculates and returns the median of the numbers in the given array.
      Parameters:
      num - specifies the number array.
      Returns:
      median of numbers in the array.

    • average

      public static double average(double... nums)
      This method calculates and returns the average of the numbers in the given array.
      Parameters:
      nums - specifies the number array.
      Returns:
      average of all numbers in the array. If the array is empty, return 0.

    • magnitude

      public static double magnitude(double... nums)
      This method calculates the magnitudes of the given array of numbers.
      Parameters:
      nums - specifies the number array.
      Returns:
      magnitude of all numbers in the array.

    • maxMagnitude

      public static double maxMagnitude(double... nums)
      This method returns the maximum magnitude of numbers in the specified array.
      Parameters:
      nums - specifies the number array.
      Returns:
      maximum magnitude of the numbers in the array.

    • leastSignificantSetBit

      public static int leastSignificantSetBit(int data)
      This method returns a bit mask of the least significant set bit.
      Parameters:
      data - specifies the data to find the least significant set bit.
      Returns:
      bit mask that has only the least significant set bit.

    • leastSignificantSetBitPosition

      public static int leastSignificantSetBitPosition(int data)
      This method returns the bit position of the least significant set bit of the given data.
      Parameters:
      data - specifies the data to determine its least significant set bit position.
      Returns:
      0-based least significant set bit position. -1 if no set bit.

    • mostSignificantSetBit

      public static int mostSignificantSetBit(int data)
      This method returns a bit mask of the least significant set bit.
      Parameters:
      data - specifies the data to find the least significant set bit.
      Returns:
      bit mask that has only the least significant set bit.

    • mostSignificantSetBitPosition

      public static int mostSignificantSetBitPosition(int data)
      This method returns the bit position of the most significant set bit of the given data.
      Parameters:
      data - specifies the data to determine its most significant set bit position.
      Returns:
      0-based most significant set bit position. -1 if no set bit.

    • setBitMask

      public static int setBitMask(int... bitPositions)
      This method sets a bitmask with the given bit positions.
      Parameters:
      bitPositions - specifies the bit positions to be set to 1. Bit positions are 0-based.
      Returns:
      bit mask.

    • normalizeInPlace

      public static void normalizeInPlace(double[] nums)
      This method normalizes the given array of numbers such that no number exceeds +/- 1.0. If no number exceeds the magnitude of 1.0, nothing will change, otherwise the original nums array will be modified in place.
      Parameters:
      nums - specifies the number array.

    • normalize

      public static double[] normalize(double... nums)
      This method normalizes the given array of numbers such that no number exceeds +/- 1.0.
      Parameters:
      nums - specifies the number array.
      Returns:
      normalized number array.

    • round

      public static int round(double num)
      This method rounds a double to the nearest integer.
      Parameters:
      num - specifies the number to round.
      Returns:
      number rounded to the nearest integer.

    • round

      public static double round(double num, double precision)
      This method rounds a double to the specified precision.
      Parameters:
      num - specifies the number to round.
      precision - specifies the precision to round to.
      Returns:
      number rounded to the specified precision.

    • inRange

      public static boolean inRange(int value, int low, int high, boolean inclusive)
      This method checks if the given value is within the specified range.
      Parameters:
      value - The value to be checked.
      low - The low limit of the range.
      high - The high limit of the range.
      inclusive - specifies true if the range is inclusive [low, high], otherwise the range is exclusive (low, high).
      Returns:
      true if the value is within range, false otherwise.

    • inRange

      public static boolean inRange(int value, int low, int high)
      This method checks if the given value is within the specified range inclusive.
      Parameters:
      value - The value to be checked.
      low - The low limit of the range.
      high - The high limit of the range.
      Returns:
      true if the value is within range, false otherwise.

    • inRange

      public static boolean inRange(double value, double low, double high, boolean inclusive)
      This method checks if the given value is within the specified range.
      Parameters:
      value - The value to be checked.
      low - The low limit of the range.
      high - The high limit of the range.
      inclusive - specifies true if the range is inclusive [low, high], otherwise the range is exclusive (low,high).
      Returns:
      true if the value is within range, false otherwise.

    • inRange

      public static boolean inRange(double value, double low, double high)
      This method checks if the given value is within the specified range inclusive.
      Parameters:
      value - The value to be checked.
      low - The low limit of the range.
      high - The high limit of the range.
      Returns:
      true if the value is within range, false otherwise.

    • clipRange

      public static int clipRange(int value, int lowLimit, int highLimit)
      This method clips the given value to the range limited by the given low and high limits.
      Parameters:
      value - specifies the value to be clipped
      lowLimit - specifies the low limit of the range.
      highLimit - specifies the high limit of the range.
      Returns:
      the result of the clipped value.

    • clipRange

      public static double clipRange(double value, double lowLimit, double highLimit)
      This method clips the given value to the range limited by the given low and high limits.
      Parameters:
      value - specifies the value to be clipped
      lowLimit - specifies the low limit of the range.
      highLimit - specifies the high limit of the range.
      Returns:
      the result of the clipped value.

    • clipRange

      public static double clipRange(double value, double limit)
      This method clips the given value to the range limited by -limit as the low limit and limit as the high limit.
      Parameters:
      value - specifies the value to be clipped
      limit - specifies the limit of the range between -limit and limit.
      Returns:
      the result of the clipped value.

    • clipRange

      public static double clipRange(double value)
      This method clips the given value to the range between -1.0 and 1.0.
      Parameters:
      value - specifies the value to be clipped
      Returns:
      the result of the clipped value.

    • scaleRange

      public static int scaleRange(int value, int lowSrcRange, int highSrcRange, int lowDstRange, int highDstRange)
      This method scales the given value from the source range to the target range.
      Parameters:
      value - specifies the value to be scaled.
      lowSrcRange - specifies the low limit of the source range.
      highSrcRange - specifies the high limit of the source range.
      lowDstRange - specifies the low limit of the target range.
      highDstRange - specifies the high limit of the target range
      Returns:
      the result of the scaled value.

    • scaleRange

      public static double scaleRange(double value, double lowSrcRange, double highSrcRange, double lowDstRange, double highDstRange)
      This method scales the given value from the source range to the target range.
      Parameters:
      value - specifies the value to be scaled.
      lowSrcRange - specifies the low limit of the source range.
      highSrcRange - specifies the high limit of the source range.
      lowDstRange - specifies the low limit of the target range.
      highDstRange - specifies the high limit of the target range
      Returns:
      the result of the scaled value.

    • applyDeadband

      public static double applyDeadband(double value, double deadband)
      This method checks if the given value is within the deadband range. If so, it returns 0.0 else it returns the unchanged value.
      Parameters:
      value - specifies the value to be checked.
      deadband - specifies the deadband zone.
      Returns:
      the value 0.0 if within deadband, unaltered otherwise.

    • intToByte

      public static byte intToByte(int data, int index)
      This method returns the indexed byte of an integer.
      Parameters:
      data - specifies the integer value.
      index - specifies the byte index.
      Returns:
      indexed byte of the integer.

    • bytesToInt

      public static int bytesToInt(byte data1, byte data2, byte data3, byte data4)
      This method combines two bytes into an integer.
      Parameters:
      data1 - specifies the lowest byte.
      data2 - specifies the next lowest byte.
      data3 - specifies the next byte.
      data4 - specifies the highest byte.
      Returns:
      the converted integer.

    • bytesToInt

      public static int bytesToInt(byte low, byte high)
      This method combines two bytes into an integer.
      Parameters:
      low - specifies the low byte.
      high - specifies the high byte.
      Returns:
      the converted integer.

    • bytesToInt

      public static int bytesToInt(byte data)
      This method converts a byte into an integer.
      Parameters:
      data - specifies the byte data.
      Returns:
      the converted integer.

    • bytesToShort

      public static short bytesToShort(byte low, byte high)
      This method combines two bytes into a short.
      Parameters:
      low - specifies the low byte.
      high - specifies the high byte.
      Returns:
      the converted short.

    • polarToCartesian

      public static org.apache.commons.math3.linear.RealVector polarToCartesian(double r, double theta)
      Convert a point from a polar coordinate system to a cartesian coordinate system.
      Parameters:
      r - Magnitude of vector
      theta - Direction of vector, in degrees clockwise from 0 (+y)
      Returns:
      Vector in a cartesian coordinate system representing the same point.

    • createVector

      public static org.apache.commons.math3.linear.RealVector createVector(double... vector)
      Create an ArrayRealVector with the supplied numbers. This is just quality of life to reduce typing.
      Parameters:
      vector - The data to put in the vector.
      Returns:
      A new vector instance with the data.

    • rotateCCW

      public static org.apache.commons.math3.linear.RealVector rotateCCW(org.apache.commons.math3.linear.RealVector vector, double angle)
      Rotate a point counter-clockwise about the origin.
      Parameters:
      vector - The vector to rotate.
      angle - The angle in degrees to rotate by.
      Returns:
      The vector after the rotation transformation.

    • rotateCW

      public static org.apache.commons.math3.linear.RealVector rotateCW(org.apache.commons.math3.linear.RealVector vector, double angle)
      Rotate a point clockwise about the origin.
      Parameters:
      vector - The vector to rotate.
      angle - The angle in degrees to rotate by.
      Returns:
      The vector after the rotation transformation.

    • createCCWRotationMatrix

      public static org.apache.commons.math3.linear.RealMatrix createCCWRotationMatrix(double angle)
      Create a rotation matrix that will rotate a point counter-clockwise about the origin by a specific number of degrees.
      Parameters:
      angle - The angle in degrees to rotate by.
      Returns:
      A rotation matrix describing a counter-clockwise rotation by angle degrees.

    • createCWRotationMatrix

      public static org.apache.commons.math3.linear.RealMatrix createCWRotationMatrix(double angle)
      Create a rotation matrix that will rotate a point clockwise about the origin by a specific number of degrees.
      Parameters:
      angle - The angle in degrees to rotate by.
      Returns:
      A rotation matrix describing a clockwise rotation by angle degrees.