exp-moving-avg.hh

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/*
 * Copyright 2018,
 * Julian Viereck
 *
 * CNRS/AIST
 *
 */
 
#ifndef __SOT_EXPMOVINGAVG_H__
#define __SOT_EXPMOVINGAVG_H__
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#include <dynamic-graph/entity.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
 
#include <sot/core/config.hh>
 
namespace dynamicgraph {
namespace sot {
 
/* --------------------------------------------------------------------- */
/* --- TRACER ---------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
using dynamicgraph::Entity;
using dynamicgraph::SignalPtr;
using dynamicgraph::SignalTimeDependent;
 
class SOT_CORE_DLLAPI ExpMovingAvg : public Entity {
  DYNAMIC_GRAPH_ENTITY_DECL();
 
 public:
  SignalPtr<dynamicgraph::Vector, sigtime_t> updateSIN;
  SignalTimeDependent<size_type, sigtime_t> refresherSINTERN;
  SignalTimeDependent<dynamicgraph::Vector, sigtime_t> averageSOUT;
 
 public:
  ExpMovingAvg(const std::string &n);
  virtual ~ExpMovingAvg(void);
 
  void setAlpha(const double &alpha_);
 
 protected:
  dynamicgraph::Vector &update(dynamicgraph::Vector &res,
                               const sigtime_t &inTime);
 
  dynamicgraph::Vector average;
 
  double alpha;
  bool init;
};
 
} /* namespace sot */
} /* namespace dynamicgraph */
 
#endif /* #ifndef __SOT_TRACER_H__ */