velMath.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/filter/composableFilter.hpp"
#include "okapi/api/units/QAngularAcceleration.hpp"
#include "okapi/api/units/QAngularSpeed.hpp"
#include "okapi/api/units/QTime.hpp"
#include "okapi/api/util/abstractTimer.hpp"
#include "okapi/api/util/logging.hpp"
#include <memory>
 
namespace okapi {
class VelMath {
  public:
  VelMath(double iticksPerRev,
          std::unique_ptr<Filter> ifilter,
          QTime isampleTime,
          std::unique_ptr<AbstractTimer> iloopDtTimer,
          std::shared_ptr<Logger> ilogger = Logger::getDefaultLogger());
 
  virtual ~VelMath();
 
  virtual QAngularSpeed step(double inewPos);
 
  virtual void setTicksPerRev(double iTPR);
 
  virtual QAngularSpeed getVelocity() const;
 
  virtual QAngularAcceleration getAccel() const;
 
  protected:
  std::shared_ptr<Logger> logger;
  QAngularSpeed vel{0_rpm};
  QAngularSpeed lastVel{0_rpm};
  QAngularAcceleration accel{0.0};
  double lastPos{0};
  double ticksPerRev;
 
  QTime sampleTime;
  std::unique_ptr<AbstractTimer> loopDtTimer;
  std::unique_ptr<Filter> filter;
};
} // namespace okapi