VMSaturation.hpp

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/*
 * VMSaturation.hpp
 *
 *  Created on: Dec 14, 2011
 *      Author: mriedel
 */

#ifndef VMSATURATION_HPP_
#define VMSATURATION_HPP_

#include <telekyb_defines/telekyb_defines.hpp>
#include <tk_trajprocessor/TrajectoryModule.hpp>

#include <telekyb_base/Options.hpp>

#include <telekyb_base/Time.hpp>

using namespace TELEKYB_NAMESPACE;

namespace telekyb_traj {

class VMSaturationOptions : public OptionContainer {
public:
        Option<double>* tMaxVel;
        Option<double>* tMaxVelRate;
        VMSaturationOptions();
};

class VMSaturation : public TrajectoryModule {
protected:
        VMSaturationOptions options;

        Velocity3D lastVelocity;
        Timer lastVelocityTimer;

public:
        VMSaturation();

        virtual void initialize();
        virtual void destroy();

        // set back to intial conditions
        virtual void willTurnActive();

        // called after turning inactive
        virtual void didTurnInactive();

        virtual bool trajectoryStep(const TKState& currentState, TKTrajectory& trajInput);

};

} /* namespace telekyb_traj */
#endif /* VMSATURATION_HPP_ */