/// <summary>
/// Proportional EMG reference generator that converts an EMG signal into a joint angle or velocity reference.
/// Single site: joint angle reference.
/// Dual site: joint velocity reference.
/// Sets all integrator gains to the default: 1.0.
/// </summary>
/// <param name="xBar">The initial condition for the references.</param>
public EMGInterfaceReferenceGenerator(float[] xBar, EMGInterfaceType interfaceType)
{
channelSize = xBar.Length;
this.xBar = xBar;
SetDefaultGains();
generatorType = ReferenceGeneratorType.EMGInterface;
this.interfaceType = interfaceType;
// initialize filters
for (int i = 0; i < channelSize; i++)
{
lowPassFilters.Add(new FOLPDFilter(2 * Mathf.PI * 3.0f, 1.0f, Time.fixedDeltaTime));
movingAverageFilters.Add(new MovingAverageFilter(15));
}
}
/// <summary>
/// Proportional EMG reference generator that converts an EMG signal into a joint angle or velocity reference.
/// Single site: joint angle reference.
/// Dual site: joint velocity reference.
/// </summary>
/// <param name="xBar">The initial condition for the references.</param>
/// <param name="gains">The desired integrator gain for each reference.</param>
public EMGInterfaceReferenceGenerator(float[] xBar, List <float> gains, EMGInterfaceType interfaceType)
{
if (xBar.Length != gains.Count)
{
throw new System.ArgumentOutOfRangeException("The length of the parameters does not match.");
}
channelSize = xBar.Length;
this.xBar = xBar;
this.Gains = gains;
generatorType = ReferenceGeneratorType.EMGInterface;
this.interfaceType = interfaceType;
// initialize filters
for (int i = 0; i < channelSize; i++)
{
lowPassFilters.Add(new FOLPDFilter(2 * Mathf.PI * 3.0f, 1.0f, Time.fixedDeltaTime));
movingAverageFilters.Add(new MovingAverageFilter(15));
}
}
