LeakyIntegrator.h

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/*
 * Copyright (c) 2018-2019, CNRS-UM LIRMM
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#pragma once

#include <Eigen/Dense>

namespace utils
{

struct LeakyIntegrator
{
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  inline void add(const Eigen::Vector3d & value, double dt)
  {
    integral_ = (1. - rate_ * dt) * integral_ + dt * value;
    if(saturation_ > 0.)
    {
      saturate();
    }
  }

  inline const Eigen::Vector3d & eval() const
  {
    return integral_;
  }

  inline double rate() const
  {
    return rate_;
  }

  inline void rate(double rate)
  {
    rate_ = rate;
  }

  inline void saturation(double s)
  {
    saturation_ = s;
  }

  inline void setZero()
  {
    integral_.setZero();
  }

private:
  inline void saturate()
  {
    for(unsigned i = 0; i < 3; i++)
    {
      if(integral_(i) < -saturation_)
      {
        integral_(i) = -saturation_;
      }
      else if(integral_(i) > saturation_)
      {
        integral_(i) = saturation_;
      }
    }
  }

private:
  Eigen::Vector3d integral_ = Eigen::Vector3d::Zero();
  double rate_ = 0.1;
  double saturation_ = -1.;
};

} // namespace utils

using utils::LeakyIntegrator;