ramp.hpp

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#pragma once
 
#include <algorithm>
 
namespace auterion {
 
class Ramp {
   public:
    Ramp(double max_slope) : _max_slope(max_slope) {}
    Ramp(double max_slope, double current) : _max_slope(max_slope), _current(current) {}
 
    double update(double setpoint, double dt) {
        const double dvalue = std::clamp(setpoint - _current, -_max_slope * dt, _max_slope * dt);
        _current += dvalue;
        return _current;
    }
 
   private:
    double _max_slope{0.0};
    double _current{0.0};
};
 
}  // namespace auterion