.. _program_listing_file_src_tap_algorithms_ramp.cpp:

Program Listing for File ramp.cpp
=================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_tap_algorithms_ramp.cpp>` (``src/tap/algorithms/ramp.cpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * 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/>.
    */
   
   #include "ramp.hpp"
   
   #include <cmath>
   
   #include "math_user_utils.hpp"
   
   namespace tap
   {
   namespace algorithms
   {
   Ramp::Ramp(float initialValue) : target(initialValue), value(initialValue), targetReached(true) {}
   
   void Ramp::reset(float val)
   {
       target = val;
       value = val;
       targetReached = true;
   }
   
   void Ramp::setTarget(float target)
   {
       if (!compareFloatClose(target, this->target, RAMP_EPSILON))
       {
           this->target = target;
           this->targetReached = false;
       }
   }
   
   void Ramp::setValue(float value) { this->value = value; }
   
   void Ramp::update(float increment)
   {
       increment = copysign(increment, target - value);
       float targetValueDifference = copysign(target - value, increment);
       value = fabs(targetValueDifference) > fabs(increment) ? value + increment : target;
       targetReached = compareFloatClose(value, target, RAMP_EPSILON);
   }
   
   float Ramp::getValue() const { return this->value; }
   
   bool Ramp::isTargetReached() const { return targetReached; }
   
   float Ramp::getTarget() const { return target; }
   
   }  // namespace algorithms
   
   }  // namespace tap