38 lines
899 B
C++
38 lines
899 B
C++
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/*
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* FrictionEstimation.hh
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*
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* Created on: 13 янв. 2021 г.
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* Author: titov
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*/
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#ifndef UMLIBRARY_PROCESSING_FRICTIONESTIMATION_HH_
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#define UMLIBRARY_PROCESSING_FRICTIONESTIMATION_HH_
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#include "../systemic/ISignal.hh"
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#include "../systemic/IProcess.hh"
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#include "../control/regulator/FrictionModelDw3Vw1.hh"
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namespace processing {
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//!Модуль осуществляет обсчет модели трения для текущей скорости.
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class FrictionEstimation : public systemic::IProcess {
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control::regulator::FrictionModel_Dw3Vw1 & friction_model;
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systemic::ISignal & speed;
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float friction_est;
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public:
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FrictionEstimation( control::regulator::FrictionModel_Dw3Vw1 & friction_model, systemic::ISignal & speed );
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const float & getEtimatedFriction() const;
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void process();
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};
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}
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#endif /* UMLIBRARY_PROCESSING_FRICTIONESTIMATION_HH_ */
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