3#include "../core/include/utils/math_util.h"
4#include "../core/include/utils/moving_average.h"
65 double calculate(
double v,
double a,
double pid_ref = 0.0) {
69 else if (pid_ref != 0)
70 ks_sign = sign(pid_ref);
72 return (cfg.
kS * ks_sign) + (cfg.
kV * v) + (cfg.
kA * a) + cfg.
kG;
Definition feedforward.h:29
double calculate(double v, double a, double pid_ref=0.0)
Perform the feedforward calculation.
Definition feedforward.h:65
FeedForward(ff_config_t &cfg)
Definition feedforward.h:53
Definition feedforward.h:39
double kG
Definition feedforward.h:45
double kA
Definition feedforward.h:43
double kS
Definition feedforward.h:40
double kV
Definition feedforward.h:41