BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.logic/Diff

Diff

Performs numerical differentiation of a value with respect to time (sec). Supports a low-pass filter which can be used to smoothen out results from the derivative.

Author

Lucas Bubner, 2025

Since

7.0.0

Constructors

Diff

constructor()

Properties

DEFAULT_LOW_PASS_GAIN

open var DEFAULT_LOW_PASS_GAIN: Double

Default low-pass gain to use when applying the derivative.

Inherited properties

CUBE

val CUBE: UnaryFunction

A function that cubes the input value.

CUBE_KEEP_SIGN

val CUBE_KEEP_SIGN: UnaryFunction

A function that cubes the input value and keeps the sign.

IDENTITY

val IDENTITY: UnaryFunction

The identity function that simply returns the input value.

NEGATE

val NEGATE: UnaryFunction

A function that negates the input value.

SQUARE

val SQUARE: UnaryFunction

A function that squares the input value.

SQUARE_KEEP_SIGN

val SQUARE_KEEP_SIGN: UnaryFunction

A function that squares the input value and keeps the sign.

Functions

apply

open fun apply(input: Double): Double

Applies this function to the input value and returns the result.

getLast

open fun getLast(): Double

setLowPassGain

open fun setLowPassGain(gain: Double)

Set a new Low Pass filter gain for use with derivative readings.

Inherited functions

andThen

open fun andThen(after: DoubleUnaryOperator): DoubleUnaryOperator

applyAsDouble

open fun applyAsDouble(operand: Double): Double

Applies this function to the input value and returns the result.

abstract fun applyAsDouble(p: Double): Double

compose

open fun compose(before: DoubleUnaryOperator): DoubleUnaryOperator

div

@NonNull

open fun div(@NonNull divisor: UnaryFunction): UnaryFunction

Creates a composite function h(x) such that h(x) = f(x) / g(x).

@NonNull

open fun div(divisor: Double): UnaryFunction

Creates a composite function h(x) such that h(x) = 1/k * f(x).

exp

@NonNull

open fun exp(@NonNull exponent: UnaryFunction): UnaryFunction

Creates a composite function h(x) such that h(x) = f(x) ^ g(x).

@NonNull

open fun exp(exponent: Double): UnaryFunction

Creates a composite function h(x) such that h(x) = f(x) ^ k.

identity

open fun identity(): DoubleUnaryOperator

mult

@NonNull

open fun mult(@NonNull multiplier: UnaryFunction): UnaryFunction

Creates a composite function h(x) such that h(x) = f(x) * g(x).

@NonNull

open fun mult(multiplier: Double): UnaryFunction

Creates a composite function h(x) such that h(x) = k * f(x).

pipeTo

@NonNull

open fun pipeTo(@NonNull next: UnaryFunction): UnaryFunction

Constructs a new function that first calls this function, then passes the result to another as input.