Program Listing for File linear_interpolation_predictor.hpp

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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/>.
 */

#ifndef TAPROOT_LINEAR_INTERPOLATION_PREDICTOR_HPP_
#define TAPROOT_LINEAR_INTERPOLATION_PREDICTOR_HPP_

#include <cstdint>

namespace tap::algorithms
{
class LinearInterpolationPredictor
{
public:
    LinearInterpolationPredictor();

    void update(float newValue, uint32_t currTime);

    inline float getInterpolatedValue(uint32_t currTime)
    {
        return slope * static_cast<float>(currTime - lastUpdateCallTime) + previousValue;
    }

    void reset(float initialValue, uint32_t initialTime);

private:
    uint32_t lastUpdateCallTime;
    float previousValue;
    float slope;
};  // class LinearInterpolationPredictor

}  // namespace tap::algorithms

#endif  // TAPROOT_LINEAR_INTERPOLATION_PREDICTOR_HPP_