integrator.hpp

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#ifndef INTEGRATOR_HPP
#define INTEGRATOR_HPP

#include <float.h>
#include <memory>

namespace tuw
{
class Integrator
{
  // special class member functions
public:
  Integrator() = default;

public:
  virtual ~Integrator() = default;

public:
  Integrator(const Integrator&) = default;

public:
  Integrator& operator=(const Integrator&) = default;

public:
  Integrator(Integrator&&) = default;

public:
  Integrator& operator=(Integrator&&) = default;

public:
  void reset(const double& _x0)
  {
    x_ = _x0;
    comp_ = 0;
  }
public:
  const double& intOutput() const
  {
    return x_;
  }
public:
  void integrate(const double& _dx)
  {
    double y = _dx - comp_;
    double t = x_ + y;
    comp_ = (t - x_) - y;
    x_ = t;
  }

private:
  double x_;  
private:
  double comp_;  
};
}

#endif  // STATE_FEEDBACK_HPP