IRSpeedFromPositionFilter.hpp

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#ifndef MOTOR_CONTROLLER_IR_SPEED_FROM_POSITION_FILTER_HPP
#define MOTOR_CONTROLLER_IR_SPEED_FROM_POSITION_FILTER_HPP

#include <base/samples/Joints.hpp>

namespace motor_controller
{
    class IRSingleSpeedFromPositionFilter
    {
        float mFactor;
        base::Time mLastUpdate;
        base::JointState mLastState;

    public:
        IRSingleSpeedFromPositionFilter(float factor);
        bool update(base::Time time, base::JointState& state);
    };

    class IRSpeedFromPositionFilter
    {
        float mFactor;
        std::vector<IRSingleSpeedFromPositionFilter> mFilters;

    public:
        IRSpeedFromPositionFilter(float factor, size_t size = 0);

        bool update(base::samples::Joints& joints, bool force = false);
    };
}

#endif