motion_filter.h

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#pragma once
 
#include <cstdint>
 
class Cia402Drive;
 
class MotionFilter {
 public:
  enum class Type { kPosition = 0, kVelocity, kTorque };
 
  MotionFilter(Cia402Drive& cia402_drive, MotionFilter::Type type);

  void set_target(int32_t target);

  int32_t get_filtered_target(uint64_t pending_signals);

  MotionFilter::Type get_type();

  bool is_position();

  bool is_velocity();

  bool is_torque();
 
 private:
  MotionFilter::Type type_;
 
  static const double numerator_[];
  static const double denominator_[];
  double input_0_, input_1_, input_2_;
  double output_0_, output_1_;
  bool new_input_added_;

  void add_input_value(double value);

  void add_output_value(double value);
};