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[wpimath] Remove redundant LinearFilter.finiteDifference() argument (#4335)

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The number of samples is already determined by the length of the stencil
list.
This commit is contained in:
Tyler Veness
2022-07-22 10:50:30 -07:00
committed by GitHub
parent 6f1e01f8bd
commit 3ccf806064
3 changed files with 8 additions and 8 deletions
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12
wpimath/src/main/java/edu/wpi/first/math/filter/LinearFilter.java
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@@ -147,17 +147,15 @@ public class LinearFilter {
* stream-based online filtering (e.g., taking derivative of encoder samples in real-time).
*
* @param derivative The order of the derivative to compute.
* @param samples The number of samples to use to compute the given derivative. This must be one
* more than the order of derivative or higher.
* @param stencil List of stencil points.
* @param stencil List of stencil points. Its length is the number of samples to use to compute
* the given derivative. This must be one more than the order of the derivative or higher.
* @param period The period in seconds between samples taken by the user.
* @return Linear filter.
* @throws IllegalArgumentException if derivative < 1, samples <= 0, or derivative >=
* samples.
*/
@SuppressWarnings("LocalVariableName")
public static LinearFilter finiteDifference(
int derivative, int samples, int[] stencil, double period) {
public static LinearFilter finiteDifference(int derivative, int[] stencil, double period) {
// See
// https://en.wikipedia.org/wiki/Finite_difference_coefficient#Arbitrary_stencil_points
//
@@ -179,6 +177,8 @@ public class LinearFilter {
"Order of derivative must be greater than or equal to one.");
}
int samples = stencil.length;
if (samples <= 0) {
throw new IllegalArgumentException("Number of samples must be greater than zero.");
}
@@ -236,7 +236,7 @@ public class LinearFilter {
stencil[i] = -(samples - 1) + i;
}
return finiteDifference(derivative, samples, stencil, period);
return finiteDifference(derivative, stencil, period);
}
/** Reset the filter state. */