Difference

Inputs: i1
Outputs: o1

Computes the difference between the values of two consecutive messages. Emits the difference using the newest message time field.

The Difference operator holds a message buffer of size 2 on i1. Once the message buffer on i1 gets filled it calculates the difference of the newest message and the oldest message from the buffer and it emits a new message with the calculated difference and the time of the newest message.

$y(t_n)=x(t_n) - x(t_{n-1})$

Parameters

id: The id of the operator

Usage

TypeScript

import { Program, Difference } from "@rtbot-dev/rtbot";

const id = "id";

const program = new Program();
program.addOperator(new Difference(id));

Python

import rtbot as rb

id = "id";

program = rb.Program()
program.addOperator(rb.Difference(id))

C++

#include "rtbot/Difference.h"

auto id = "id";

auto op = Difference<std::uint64_t, double>(id)

YAML

# minimal RtBot program
operators:
  - type: Difference
    id: "id"

Json

{
  "operators": [
    { "type": "Difference", "id": "id" }
  ] 
}