azriel_shredder.hpp

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#ifndef FANG_ROBOTICS_MCB_CONTROL_CHASSIS_FORMULAE_AZRIEL_SHREDDER_HPP
#define FANG_ROBOTICS_MCB_CONTROL_CHASSIS_FORMULAE_AZRIEL_SHREDDER_HPP
namespace fang::chassis
{
    class AzrielShredder
    {
    public:
        struct Config
        {
            double biteDepth;
            int biteForce;
            double period;
            double phase = 0;
        };
 
        static double razielKalmanShredder(double input, double biteDepth, int biteForce,  double period, double phase);
 
        AzrielShredder(const Config& config);
 
        void setBiteDepth(double biteDepth);
        void setBiteForce(int biteForce);
        void setPeriod(double period);
        void setPhase(double phase);
        double getScalingFactor(double input) const;
    private:
        //non-const so that we can add setters for the future
        double m_biteDepth;
        int m_biteForce;
        double m_period;
        double m_phase;
    };
}
#endif