settledUtil.hpp

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/*
 * This Source Code Form is subject to the terms of the Mozilla Public
 * License, v. 2.0. If a copy of the MPL was not distributed with this
 * file, You can obtain one at http://mozilla.org/MPL/2.0/.
 */
#pragma once
 
#include "okapi/api/units/QTime.hpp"
#include "okapi/api/util/abstractTimer.hpp"
#include <memory>
 
namespace okapi {
class SettledUtil {
  public:
  explicit SettledUtil(std::unique_ptr<AbstractTimer> iatTargetTimer,
                       double iatTargetError = 50,
                       double iatTargetDerivative = 5,
                       QTime iatTargetTime = 250_ms);
 
  virtual ~SettledUtil();
 
  virtual bool isSettled(double ierror);
 
  virtual void reset();
 
  protected:
  double atTargetError = 50;
  double atTargetDerivative = 5;
  QTime atTargetTime = 250_ms;
  std::unique_ptr<AbstractTimer> atTargetTimer;
  double lastError = 0;
};
} // namespace okapi