ActuatorModel.h

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#ifndef ACTUATORMODEL_H_
#define ACTUATORMODEL_H_

#include "utils/AuvMath.h"

class ActuatorModel
{
public:

    ActuatorModel();

    ~ActuatorModel()
    {
        ;
    };

    void setCommand( const float command );

    // Predict the actuator position at smallDt
    // ("look forward by a time step")
    float project( const float dt );

    // Predict the actuator position at dt and store it as "previous"
    // ("take a time step")
    float advance( const float dt, bool debug = false );

    void setHyst( const float width, const float center )
    {
        hystWidth_ = width;
        hystCenter_ = center;
    }

    void setSpeed( const float speed )
    {
        speed_ = speed;
    }

    void setPrevious( const float previous );

    float getCurrent( void )
    {
        return prevPosition_;
    }

private:

    // Predict the actuator position at smallDt
    // ("look forward by a time step")
    void project( const float dt, float &shaft, float& position, bool debug = false );

    float next( const float dt, bool debug = false );

    float hysteresis( const float shaft );

    float command_;

    float prevPosition_, prevShaft_;

    bool movingToLeft_, movingToRight_;

    float hystWidth_;

    float hystCenter_;

    float speed_;

};

#endif /*ACTUATORMODEL_H_*/