/*
 * FrictionEstimation.hh
 *
 *  Created on: 13 янв. 2021 г.
 *      Author: titov
 */

#ifndef UMLIBRARY_PROCESSING_FRICTIONESTIMATION_HH_
#define UMLIBRARY_PROCESSING_FRICTIONESTIMATION_HH_

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

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

namespace processing {

//!Модуль осуществляет обсчет модели трения для текущей скорости.

class FrictionEstimation : public systemic::IProcess {

    control::regulator::FrictionModel_Dw3Vw1 & friction_model;
    systemic::ISignal & speed;

    float friction_est;

public:
    FrictionEstimation( control::regulator::FrictionModel_Dw3Vw1 & friction_model, systemic::ISignal & speed );

    const float & getEtimatedFriction() const;

    void process();
};

}

#endif /* UMLIBRARY_PROCESSING_FRICTIONESTIMATION_HH_ */