Package org.texastorque.torquelib.util

Class TorqueMath

java.lang.Object
org.texastorque.torquelib.util.TorqueMath
public final class TorqueMath extends Object
A static class of useful math utilities.

  • Method Summary

    Modifier and Type
    Method
    Description
    static final double
    average(List<? extends Number> list)
    Takes the average of a list of numbers.
    static final <T> double
    average(List<T> list, ToDoubleFunction<T> function)
    Takes the average of the mapped functional outputs on a list of objects.
    static final double
    constrain(double n, double a)
    Return contrained value n between a and -a
    static final double
    constrain(double n, double a, double b)
    Return contrained value n between a and b
    static final boolean
    constrained(double n, double a, double b)
    Check if a number is inside of a certain bounds (inclusive).
    static final double
    linearConstraint(double requestedSpeed, double currentPosition, double minPosition, double maxPosition)
    Returns either requestedSpeed or zero depending on if it will keep currentPosition between minPosition and maxPosition.
    static final void
    main(String[] args)
     
    static final double
    powPreserveSign(double a, double b)
    Power with sign the sign of a.
    static final boolean
    prime(long n)
    Check if an integer (as a long) is prime or not.
    static final long
    random(long high)
    This method will return an integer (as a long) in the range [1, high].
    static final long
    random(long low, long high)
    This method will return an integer (as a long) in the range [low, high].
    static final double[]
    range(double min, double max)
    Returns an array with range of [min, max] and steps of 1.
    static final double[]
    range(double min, double max, double increment)
    Returns an array with range of [min, max] and steps of increment.
    static final double
    round(double num, long dec)
    Round number to a place value.
    static final double
    scaledLinearDeadband(double value, double scale)
    Scaled linear deadband
    static final double
    scaledPowerDeadband(double value, double roundness, double scale)
    Scaled linear deadband
    static final double
    scaledQuadraticDeadband(double value, double scale)
    Scaled linear deadband
    static final boolean
    toleranced(double x, double t)
    Check if a number is within a tolerance of 0.
    static final boolean
    toleranced(double x, double y, double t)
    Check if a number is within a tolerance of another number.
    static final boolean
    toleranced(double x, double y, double u, double l)
    Check if a number is within a tolerance of another number with independent sides.
    static final boolean
    toleranced2(double x, double y, double t)
    Another approach to 3 param toleranced, the one used in 2 param toleranced.

    Methods inherited from class java.lang.Object

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

  • Method Details

    • constrain

      public static final double constrain(double n, double a)
      Return contrained value n between a and -a
      Parameters:
      n - Value to be constrained
      a - Value to constrain by
      Returns:
      The constrained value of n

    • constrain

      public static final double constrain(double n, double a, double b)
      Return contrained value n between a and b
      Parameters:
      n - Value to be constrained
      a - Value to constrain the value over, the minimum value
      b - Value to constrain the value under, the maximum value
      Returns:
      The constrained value of n

    • powPreserveSign

      public static final double powPreserveSign(double a, double b)
      Power with sign the sign of a.
      Parameters:
      a - The base
      b - The exponent
      Returns:
      power with the sign of a.

    • scaledLinearDeadband

      public static final double scaledLinearDeadband(double value, double scale)
      Scaled linear deadband
      Parameters:
      value - Value to be deadbanded
      scale - The minimum value

    • scaledPowerDeadband

      public static final double scaledPowerDeadband(double value, double roundness, double scale)
      Scaled linear deadband
      Parameters:
      value - Value to be deadbanded
      roundness - The roundness (exponent) of the deadband
      scale - The minimum value

    • scaledQuadraticDeadband

      public static final double scaledQuadraticDeadband(double value, double scale)
      Scaled linear deadband
      Parameters:
      valye - Value to be deadbanded
      scale - The minimum value

    • round

      public static final double round(double num, long dec)
      Round number to a place value.
      Parameters:
      num - Number to round.
      dec - Place value (decimal places) to round to.
      Returns:
      The rounded number

    • prime

      public static final boolean prime(long n)
      Check if an integer (as a long) is prime or not.
      Parameters:
      params - The number to check for prime.
      Returns:
      If the numbers if prime or not.

    • constrained

      public static final boolean constrained(double n, double a, double b)
      Check if a number is inside of a certain bounds (inclusive).
      Parameters:
      n - The number to check.
      a - The lower bound.
      b - The upper bound.
      Returns:
      If the number is inside the bounds.

    • toleranced

      public static final boolean toleranced(double x, double t)
      Check if a number is within a tolerance of 0.
      Parameters:
      x - One number.
      t - The tolerance.
      Returns:
      If the numbers are within tolerance.

    • toleranced

      public static final boolean toleranced(double x, double y, double t)
      Check if a number is within a tolerance of another number.
      Parameters:
      x - One number.
      y - The other number.
      t - The tolerance.
      Returns:
      If the numbers are within tolerance.

    • toleranced2

      public static final boolean toleranced2(double x, double y, double t)
      Another approach to 3 param toleranced, the one used in 2 param toleranced. Should do the same thing?
      Parameters:
      x - One number.
      y - The other number.
      t - The tolerance.
      Returns:
      If the numbers are within tolerance.

    • toleranced

      public static final boolean toleranced(double x, double y, double u, double l)
      Check if a number is within a tolerance of another number with independent sides.
      Parameters:
      x - One number.
      y - The other number.
      u - The upper tolerance.
      l - The lower tolerance.
      Returns:
      If the numbers are within tolerance.

    • linearConstraint

      public static final double linearConstraint(double requestedSpeed, double currentPosition, double minPosition, double maxPosition)
      Returns either requestedSpeed or zero depending on if it will keep currentPosition between minPosition and maxPosition.
      Parameters:
      requestedSpeed - The requested speed.
      currentPosition - The current position.
      minPosition - The minimum position.
      maxPosition - The maximum position.
      Returns:
      The desired speed.

    • range

      public static final double[] range(double min, double max, double increment)
      Returns an array with range of [min, max] and steps of increment.
      Parameters:
      min - Min value (inclusive).
      max - Max value (inclusive).
      increment - Step increment.
      Returns:
      The array in range.

    • range

      public static final double[] range(double min, double max)
      Returns an array with range of [min, max] and steps of 1.
      Parameters:
      min - Min value (inclusive).
      max - Max value (inclusive).
      Returns:
      The array in range.

    • random

      public static final long random(long high)
      This method will return an integer (as a long) in the range [1, high].
      Parameters:
      high - The upper bound of range the number could be from.
      Returns:
      The randomly generated number.

    • random

      public static final long random(long low, long high)
      This method will return an integer (as a long) in the range [low, high].
      Parameters:
      low - The lower bound range the number could be from.
      high - The upper bound of range the number could be from.
      Returns:
      The randomly generated number.

    • average

      public static final double average(List<? extends Number> list)
      Takes the average of a list of numbers.
      Parameters:
      list - The list of numbers.
      Returns:
      The average of the list.

    • average

      public static final <T> double average(List<T> list, ToDoubleFunction<T> function)
      Takes the average of the mapped functional outputs on a list of objects.
      Parameters:
      list - The list of numbers.
      function - The function to generate the number.
      Returns:
      The average of the list.

    • main

      public static final void main(String[] args) throws Exception
      Throws:
      Exception