include/barrett/systems/ramp.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.h
 *
 *  Created on: Jan 5, 2010
 *      Author: dc
 */

#ifndef BARRETT_SYSTEMS_RAMP_H_
#define BARRETT_SYSTEMS_RAMP_H_


#include <barrett/detail/ca_macro.h>
#include <barrett/thread/abstract/mutex.h>
#include <barrett/systems/abstract/system.h>
#include <barrett/systems/abstract/single_io.h>


namespace barrett {
namespace systems {


// TODO(dc): add a configuration file interface


class Ramp : public System, public SingleOutput<double> {
public:
        explicit Ramp(ExecutionManager* em, double slope = 1.0,
                        const std::string& sysName = "Ramp");
        virtual ~Ramp();

        bool isRunning();

        void start();
        void stop();
        void setSlope(double slope);

        void reset();
        void setOutput(double newOutput);

        void smoothStart(double transitionDuration);
        void smoothStop(double transitionDuration);
        void smoothSetSlope(double slope, double transitionDuration);

protected:
        virtual void onExecutionManagerChanged();
        void getSamplePeriodFromEM();

        virtual void operate();

        void setCurvature(double transitionDuration);


        double T_s;
        double gain, finalGain, curGain, curvature;
        double y;

private:
        DISALLOW_COPY_AND_ASSIGN(Ramp);
};


}
}


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


#endif /* BARRETT_SYSTEMS_RAMP_H_ */