ramp.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_RAMP_HPP_
#define TAPROOT_RAMP_HPP_
 
#include <cstdint>
 
namespace tap
{
namespace algorithms
{
class Ramp
{
public:
    explicit Ramp(float initialValue = 0.0f);
 
    void reset(float val);
 
    void setTarget(float target);
 
    void setValue(float value);
 
    void update(float increment);
 
    float getValue() const;
 
    bool isTargetReached() const;
 
    float getTarget() const;
 
private:
    static constexpr float RAMP_EPSILON = 0.00000000001f;
    float target;        
    float value;         
    bool targetReached;  
};                       // class Ramp
 
}  // namespace algorithms
 
}  // namespace tap
 
#endif  // TAPROOT_RAMP_HPP_