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DiffCounter.h
00001 #ifndef DIFFCOUNTER_H_ 00002 #define DIFFCOUNTER_H_ 00003 00004 class DiffCounter 00005 { 00006 public: 00007 00008 DiffCounter(float T, float Ts); 00009 00010 float operator()(short inc) { 00011 return doStep(inc); 00012 } 00013 00014 virtual ~DiffCounter(); 00015 00016 void reset(float initValue, short inc); 00017 float doStep(short inc); 00018 00019 private: 00020 00021 double b; 00022 double a; 00023 short incPast; 00024 double vel; 00025 double inc2rad; 00026 00027 }; 00028 00029 #endif /* DIFFCOUNTER_H_ */
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