/*
 * FrictionCompensationProcess.hh
 *
 *  Created on: 31 мая 2020 г.
 *      Author: LeonidTitov
 */

#ifndef UMLIBRARY_PROCESSING_ACS_FRICTIONCOMPENSATIONASYNC_HH_
#define UMLIBRARY_PROCESSING_ACS_FRICTIONCOMPENSATIONASYNC_HH_

#include "ControlSystemInterface.hh"

#include "../../systemic/ISignal.hh"
#include "../../common/ShadowGuard.hh"

#include "../../control/regulator/FrictionModelDw3Vw1.hh"

namespace processing { namespace acs {

//!
class FrictionCompensationAsync : public PhaseSpaceToPhaseSpaceUnitInterface {
public:

    typedef ::control::regulator::FrictionModel_Dw3Vw1 Compensator;

    void set( TypeInput );
    TypeOutput get() const;
    void set_output( SetInterface * );

    void reset();

    FrictionCompensationAsync( Compensator & compensator );

private:
    Compensator & compensator;
    SetInterface * output;
    TypeInput torque_feedforward;

};

}}



#endif /* UMLIBRARY_PROCESSING_ACS_FRICTIONCOMPENSATIONASYNC_HH_ */