Ramp.hpp

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/*
 * =====================================================================================
 *
 *       Filename:  ramp.h
 *
 *    Description:  RAMP UP or RAMP DOWN function
 *
 *        Version:  1.0
 *        Created:  02/04/10 10:55:43
 *       Revision:  none
 *       Compiler:  gcc
 *
 *         Author:  Ajish Babu (), ajish.babu@dfki.de
 *        Company:  DFKI
 *
 * =====================================================================================
 */

#ifndef  RAMP_INC_INC
#define  RAMP_INC_INC

#define LINEAR 0
#define EXPONENTIAL 1  // not implemented

namespace motor_controller
{
    /*
     * =====================================================================================
     *        Class:  Ramp
     *  Description:  
     * =====================================================================================
     */
    class Ramp
    {
        public:
            /* ====================  LIFECYCLE     ======================================= */
            Ramp();                             /* constructor */
            Ramp(double initial_data, double final_data, double delta_time=0.0, int type=LINEAR);

            /* ====================  ACCESSORS     ======================================= */
            bool isActive() { return active; };
            double getVal(double curr_time);

            /* ====================  MUTATORS      ======================================= */
            void setDeltaTime(double val) { delta_time = val; };
            void setInitialData(double val) { initial_data = val; };
            void setFinalData(double val) { final_data = val; };
            void setType(int val) { type = val; };
            void reset(bool val = true) { bReset = val;  };

        protected:

        private:

            double initial_data;
            double final_data;
            double delta_time;
            double start_time;

            bool active;
            int type;
            bool bReset;

    }; // -----  end of class Ramp

}

#endif   /* ----- #ifndef RAMP_INC_INC  ----- */