include/barrett/systems/detail/ramp-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>
*/

/*
 * ramp-inl.h
 *
 *  Created on: May 18, 2011
 *      Author: dc
 */


namespace barrett {
namespace systems {


inline bool Ramp::isRunning() {
        return curGain != 0.0  ||  finalGain != 0.0;
}

inline void Ramp::start() {
        // curGain is written and read in operate(), so it needs to be locked.
        BARRETT_SCOPED_LOCK(getEmMutex());
        curGain = finalGain = gain;
}
inline void Ramp::stop() {
        // curGain is written and read in operate(), so it needs to be locked.
        BARRETT_SCOPED_LOCK(getEmMutex());
        curGain = finalGain = 0.0;
}
inline void Ramp::setSlope(double slope) {
        gain = slope;
        if (isRunning()) {
                start();
        }
}

inline void Ramp::reset() {
        setOutput(0.0);
}
inline void Ramp::setOutput(double newOutput) {
        // y is written and read in operate(), so it needs to be locked.
        BARRETT_SCOPED_LOCK(getEmMutex());
        y = newOutput;
}

inline void Ramp::smoothStart(double transitionDuration) {
        finalGain = gain;
        setCurvature(transitionDuration);
}
inline void Ramp::smoothStop(double transitionDuration) {
        finalGain = 0.0;
        setCurvature(transitionDuration);
}
inline void Ramp::smoothSetSlope(double slope, double transitionDuration) {
        gain = slope;
        if (isRunning()) {
                smoothStart(transitionDuration);
        }
}


inline void Ramp::setCurvature(double transitionDuration) {
        assert(transitionDuration > 0.0);

        // curvature is written and read in operate(), so it needs to be locked.
        BARRETT_SCOPED_LOCK(getEmMutex());
        curvature = (finalGain - curGain) / transitionDuration;
}


}
}