/*
 * FrictionEstimation.cpp
 *
 *  Created on: 13 ÿíâ. 2021 ã.
 *      Author: titov
 */

#include "FrictionEstimation.hh"

processing::FrictionEstimation::FrictionEstimation(
        control::regulator::FrictionModel_Dw3Vw1 & friction_model,
        systemic::ISignal & speed ) : friction_model(friction_model), speed(speed),
        friction_est(0.0f) {}

const float& processing::FrictionEstimation::getEtimatedFriction() const {

    return friction_est;

}

void processing::FrictionEstimation::process() {

    friction_est = friction_model.update( control::PhaseSpacePoint<float>( speed, 0.0f ) ).value;

}