include/barrett/systems/detail/first_order_filter-inl.h

/*
        Copyright 2009, 2010 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>
*/

/*
 * first_order_filter-inl.h
 *
 *  Created on: Nov 18, 2009
 *      Author: dc
 */


#include <cassert>
#include <barrett/systems/abstract/single_io.h>


namespace barrett {
namespace systems {


template<typename T, typename MathTraits>
FirstOrderFilter<T,MathTraits>::FirstOrderFilter(const std::string& sysName) :
        SingleIO<T, T>(sysName)
{
        getSamplePeriodFromEM();
}

template<typename T, typename MathTraits>
FirstOrderFilter<T,MathTraits>::FirstOrderFilter(const libconfig::Setting& setting, const std::string& sysName) :
        SingleIO<T, T>(sysName), math::FirstOrderFilter<T>(setting)
{
        getSamplePeriodFromEM();
}

template<typename T, typename MathTraits>
void FirstOrderFilter<T,MathTraits>::operate()
{
        this->eval(this->input.getValue());
        this->outputValue->setData(&this->y_0);
}


// TODO(dc): anyway to remove the code duplication with PIDController?
template<typename T, typename MathTraits>
void FirstOrderFilter<T,MathTraits>::getSamplePeriodFromEM()
{
        if (this->hasExecutionManager()) {
                assert(this->getExecutionManager()->getPeriod() > 0.0);
                this->setSamplePeriod(this->getExecutionManager()->getPeriod());
        } else {
                this->setSamplePeriod(0.0);
        }
}


}
}