esc_bounded.cpp

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/*
 * esc_bounded.cpp
 *
 *  Created on: Jan 30, 2015
 *      Author: Filip Mandic
 */

#include <labust/control/esc/EscBounded.hpp>

#include <ros/ros.h>

namespace labust{
        namespace control{
                namespace esc{

                        typedef EscBounded Base;

                        Base::EscBounded(int ctrlNum, numericprecission Ts):EscBoundedBase<double>(ctrlNum, Ts),
                                                                                state_(vector::Zero(controlNum)){

                                state_initialized_ = true;
                        }

                        Base::~EscBounded(){

                        }

                        void Base::initController(double K, double omega, double alpha, double Ts){

                                K_ = K;
                                omega_ = omega;
                                alpha_ = alpha;
                                Ts_ = Ts;
                                cycle_count_ = 0;

                                state_initialized_ = false;
                                old_vals_initialized_ = false;
                                initialized_ = true;
                        }

                        Base::vector Base::generateControl(numericprecission argument){

                                vector control = vector::Zero(2);
                                double speed = std::sqrt(alpha_*omega_);
                                control(0) = speed*std::cos(argument);
                                control(1) = speed*std::sin(argument);
                                return control;
                        }
                }
        }
}