linear_interpolation_predictor_wrapped.hpp

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/********** !!! WARNING: CODE GENERATED BY TAPROOT. DO NOT EDIT !!! **********/
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/*
 * Copyright (c) 2020-2021 Advanced Robotics at the University of Washington <robomstr@uw.edu>
 *
 * This file is part of Taproot.
 *
 * Taproot is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Taproot is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Taproot.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef TAPROOT_LINEAR_INTERPOLATION_PREDICTOR_WRAPPED_HPP_
#define TAPROOT_LINEAR_INTERPOLATION_PREDICTOR_WRAPPED_HPP_
 
#include <cstdint>
 
#include "wrapped_float.hpp"
 
namespace tap::algorithms
{
class LinearInterpolationPredictorWrapped
{
public:
    LinearInterpolationPredictorWrapped(float lowerBound, float upperBound);
 
    void update(float newValue, uint32_t currTime);
 
    float getInterpolatedValue(uint32_t currTime)
    {
        return WrappedFloat(
                   slope * static_cast<float>(currTime - lastUpdateCallTime) +
                       previousValue.getWrappedValue(),
                   previousValue.getLowerBound(),
                   previousValue.getUpperBound())
            .getWrappedValue();
    }
 
    void reset(float initialValue, uint32_t initialTime);
 
private:
    uint32_t lastUpdateCallTime;  
    WrappedFloat previousValue;   
    float slope;  
};                // class LinearInterpolationPredictorWrapped
 
}  // namespace tap::algorithms
 
#endif  // TAPROOT_LINEAR_INTERPOLATION_PREDICTOR_WRAPPED_HPP_