Program Listing for File ramp.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_RAMP_HPP_
#define TAPROOT_RAMP_HPP_

#include <cstdint>

namespace tap
{
namespace algorithms
{
class Ramp
{
public:
    explicit Ramp(float initialValue = 0.0f);

    void reset(float val);

    void setTarget(float target);

    void setValue(float value);

    void update(float increment);

    float getValue() const;

    bool isTargetReached() const;

    float getTarget() const;

private:
    static constexpr float RAMP_EPSILON = 0.00000000001f;
    float target;
    float value;
    bool targetReached;
};  // class Ramp

}  // namespace algorithms

}  // namespace tap

#endif  // TAPROOT_RAMP_HPP_