/*
 * ForceControllerAutotuningFeatureEstimate.hh
 *
 *  Created on: 4 мая 2022 г.
 *      Author: titov
 */

#ifndef UMLIBRARY_PROCESSING_FORCECONTROLLERAUTOTUNINGFEATUREESTIMATE_HH_
#define UMLIBRARY_PROCESSING_FORCECONTROLLERAUTOTUNINGFEATUREESTIMATE_HH_

#include "../systemic/ISignal.hh"
#include "../systemic/IProcess.hh"

#include "../control/regulator/ForceController.hh"

namespace processing {

//!Модуль оценки критериев автонастройки алгоритма набора и поддержания усилия.
class ForceControllerAutotuningFeatureEstimate : public systemic::IProcess {

    systemic::ISignal & force;
    systemic::ISignal & dforce;

    const control::regulator::ForceController & fc;

    float aggregated_dynamic_error;
    float dynamic_error;

    float _Ts;

public:
    ForceControllerAutotuningFeatureEstimate( systemic::ISignal & force, systemic::ISignal & dforce,
                                              const control::regulator::ForceController & fc );

    const float & getDynamicError() const;
    const float & getAggregatedDynamicError() const;
    const float & getEndMismatch() const;

    void reset();

    void process();
    void setSampleTime( float ts_in_second );

};

}




#endif /* UMLIBRARY_PROCESSING_FORCECONTROLLERAUTOTUNINGFEATUREESTIMATE_HH_ */