.. _program_listing_file_src_tap_algorithms_wrapped_float.hpp:

Program Listing for File wrapped_float.hpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_tap_algorithms_wrapped_float.hpp>` (``src/tap/algorithms/wrapped_float.hpp``)

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

.. code-block:: cpp

   /*
    * Copyright (c) 2020-2023 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_WRAPPED_FLOAT_HPP_
   #define TAPROOT_WRAPPED_FLOAT_HPP_
   
   #include <assert.h>
   
   #include <cmath>
   
   #include <modm/architecture/interface/assert.hpp>
   #include <modm/math/utils.hpp>
   
   #include "math_user_utils.hpp"
   
   namespace tap
   {
   namespace algorithms
   {
   class WrappedFloat
   {
   public:
       WrappedFloat(float value, float lowerBound, float upperBound);
   
       inline WrappedFloat withSameBounds(const float value) const
       {
           return WrappedFloat(value, this->lowerBound, this->upperBound);
       }
   
       // Overloaded Operators ----------------
   
       bool operator==(const WrappedFloat& other) const;
   
       void operator+=(const WrappedFloat& other);
   
       void operator-=(const WrappedFloat& other);
   
       WrappedFloat operator+(const WrappedFloat& other) const;
   
       WrappedFloat operator-(const WrappedFloat& other) const;
   
       void operator+=(float other);
   
       void operator-=(float other);
   
       WrappedFloat operator+(float other) const;
   
       WrappedFloat operator-(float other) const;
   
       float minDifference(const WrappedFloat& other) const;
   
       float minDifference(const float& unwrappedValue) const;
   
       WrappedFloat minInterpolate(const WrappedFloat& other, float alpha) const;
   
       void shiftBounds(float shiftMagnitude);
   
       static float limitValue(
           const WrappedFloat& valueToLimit,
           const WrappedFloat& min,
           const WrappedFloat& max,
           int* status);
   
       static float limitValue(
           const WrappedFloat& valueToLimit,
           const float min,
           const float max,
           int* status);
   
       bool withinRange(const WrappedFloat& lowerBound, const WrappedFloat& upperBound) const;
   
       static float rangeOverlap(
           const WrappedFloat& lowerA,
           const WrappedFloat& upperA,
           const WrappedFloat& lowerB,
           const WrappedFloat& upperB);
   
       // Getters/Setters ----------------
   
       inline float getUnwrappedValue() const
       {
           return wrapped + (upperBound - lowerBound) * revolutions;
       };
   
       inline float getWrappedValue() const { return wrapped; };
   
       inline void setWrappedValue(float newWrappedValue)
       {
           this->wrapped = newWrappedValue;
           wrapValue();
       };
   
       inline void setUnwrappedValue(float newUnwrappedValue)
       {
           this->wrapped = newUnwrappedValue;
           this->revolutions = 0;
           wrapValue();
       };
   
       inline WrappedFloat getNormalized() const
       {
           WrappedFloat out(*this);
           out.revolutions = 0;
           return out;
       }
   
       inline int getRevolutions() const { return revolutions; };
   
       inline float getUpperBound() const { return upperBound; };
   
       inline float getLowerBound() const { return lowerBound; };
   
       static constexpr float EPSILON = 1E-8;
   
   private:
       float wrapped;
   
       int revolutions{0};
   
       float lowerBound;
   
       float upperBound;
   
       void wrapValue();
   
       inline static void assertBoundsEqual(const WrappedFloat& a, const WrappedFloat& b)
       {
           modm_assert(
               compareFloatClose(a.getLowerBound(), b.getLowerBound(), EPSILON),
               "WrappedFloat::assertBoundsEqual",
               "Lower bounds do not match");
           modm_assert(
               compareFloatClose(a.getUpperBound(), b.getUpperBound(), EPSILON),
               "WrappedFloat::assertBoundsEqual",
               "Upper bounds do not match");
       }
   
       inline void assertBoundsEqual(const WrappedFloat& other) const
       {
           assertBoundsEqual(*this, other);
       }
   
   };  // class WrappedFloat
   
   class Angle : public WrappedFloat
   {
   public:
       inline Angle(const float value) : WrappedFloat(value, 0, M_TWOPI){};
   
       static inline WrappedFloat fromDegrees(const float degrees)
       {
           return Angle(modm::toRadian(degrees));
       }
   };
   
   }  // namespace algorithms
   
   }  // namespace tap
   
   #endif  // TAPROOT_WRAPPED_FLOAT_HPP_