26 lines
615 B
C++
26 lines
615 B
C++
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/*
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* FrictionEstimation.cpp
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*
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* Created on: 13 <EFBFBD><EFBFBD><EFBFBD>. 2021 <EFBFBD>.
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* Author: titov
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*/
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#include "FrictionEstimation.hh"
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processing::FrictionEstimation::FrictionEstimation(
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control::regulator::FrictionModel_Dw3Vw1 & friction_model,
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systemic::ISignal & speed ) : friction_model(friction_model), speed(speed),
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friction_est(0.0f) {}
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const float& processing::FrictionEstimation::getEtimatedFriction() const {
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return friction_est;
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}
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void processing::FrictionEstimation::process() {
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friction_est = friction_model.update( control::PhaseSpacePoint<float>( speed, 0.0f ) ).value;
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}
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