Program Listing for File linear_interpolation_predictor.cpp

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/*
 * 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 "linear_interpolation_predictor.hpp"

namespace tap::algorithms
{
LinearInterpolationPredictor::LinearInterpolationPredictor()
    : lastUpdateCallTime(0),
      previousValue(0.0f),
      slope(0.0f)
{
}

void LinearInterpolationPredictor::update(float newValue, uint32_t currTime)
{
    if (currTime <= lastUpdateCallTime)
    {
        slope = 0.0f;
        return;
    }
    slope = (newValue - previousValue) / (currTime - lastUpdateCallTime);
    previousValue = newValue;
    lastUpdateCallTime = currTime;
}

void LinearInterpolationPredictor::reset(float initialValue, uint32_t initialTime)
{
    previousValue = initialValue;
    lastUpdateCallTime = initialTime;
    slope = 0.0f;
}
}  // namespace tap::algorithms