Program Listing for File base_waveform.hpp

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#pragma once

/*******************************************************************************
 * Includes
 ******************************************************************************/
#include "rcppsw/control/config/waveform_config.hpp"
#include "rcppsw/math/radians.hpp"
#include "rcppsw/rcppsw.hpp"

/*******************************************************************************
 * Namespaces/Decls
 ******************************************************************************/
namespace rcppsw::control {

/*******************************************************************************
 * Classes
 ******************************************************************************/
class base_waveform {
 public:
  explicit base_waveform(const struct config::waveform_config* const config)
      : m_frequency(config->frequency),
        m_amplitude(config->amplitude),
        m_offset(config->offset),
        m_phase(rmath::radians(config->phase)) {}

  virtual ~base_waveform(void) = default;

  virtual double value(double time) = 0;

  double frequency(void) const { return m_frequency; }

  const math::radians& phase(void) const { return m_phase; }

  double amplitude(void) const { return m_amplitude; }

  double offset(void) const { return m_offset; }

 private:
  /* clang-format off */
  double        m_frequency;
  double        m_amplitude;
  double        m_offset;
  math::radians m_phase;
  /* clang-format on */
};

} /* namespace rcppsw::control */