Class OscillationCritic::CommandTrend

• Defined in File oscillation.hpp

Nested Relationships

This class is a nested type of Class OscillationCritic.

Class Documentation

class CommandTrend

Helper class for performing the same logic on the x,y and theta dimensions.

Public Functions

CommandTrend()

void reset()

bool update(double velocity)

update internal flags based on the commanded velocity

Parameters:

velocity – commanded velocity for the dimension this trend is tracking

Returns:

true if the sign has flipped

bool isOscillating(double velocity)

Check to see whether the proposed velocity would be considered oscillating.

Parameters:

velocity – the velocity to evaluate

Returns:

true if the sign has flipped more than once

bool hasSignFlipped()

Check whether we are currently tracking a flipped sign.

Returns:

True if the sign has flipped