include/barrett/systems/rate_limiter.h

/*
        Copyright 2012 Barrett Technology <support@barrett.com>

        This file is part of libbarrett.

        This version of libbarrett 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.

        This version of libbarrett 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 this version of libbarrett.  If not, see
        <http://www.gnu.org/licenses/>.

        Further, non-binding information about licensing is available at:
        <http://wiki.barrett.com/libbarrett/wiki/LicenseNotes>
*/

/*
 * rate_limiter.h
 *
 *  Created on: Apr 12, 2012
 *      Author: dc
 */

#ifndef BARRETT_SYSTEMS_RATE_LIMITER_H_
#define BARRETT_SYSTEMS_RATE_LIMITER_H_


#include <string>

#include <Eigen/Core>

#include <barrett/detail/ca_macro.h>
#include <barrett/math/traits.h>
#include <barrett/systems/abstract/single_io.h>


namespace barrett {
namespace systems {


template<typename T, typename MathTraits = math::Traits<T> >
class RateLimiter : public SingleIO<T,T> {
protected:
        typedef MathTraits MT;

public:
        RateLimiter(const T& limit = T(0.0), const std::string& sysName = "RateLimiter") :
                SingleIO<T,T>(sysName), T_s(0.0), limit(), maxDelta(), data(), delta()
        {
                setLimit(limit);
                getSamplePeriodFromEM();
        }
        ~RateLimiter() {
                this->mandatoryCleanUp();
        }

        void setLimit(const T& newLimit);

        void setCurVal(const T& newPos);

protected:
        double T_s;
        T limit, maxDelta;
        T data;

        T delta;
        virtual void operate();

        virtual void onExecutionManagerChanged() {
                SingleIO<T,T>::onExecutionManagerChanged();  // First, call super
                getSamplePeriodFromEM();
        }
        void getSamplePeriodFromEM();

private:
        DISALLOW_COPY_AND_ASSIGN(RateLimiter);

public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(MT::RequiresAlignment)
};


}
}


// include template definitions
#include <barrett/systems/detail/rate_limiter-inl.h>


#endif /* BARRETT_SYSTEMS_RATE_LIMITER_H_ */