integrator.h

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#pragma once

#include <mathlib/mathlib.h>
#include <matrix/math.hpp>

class Integrator
{
public:
    Integrator(uint32_t auto_reset_interval = 4000 /* 250 Hz */, bool coning_compensation = false);
    ~Integrator() = default;

    // no copy, assignment, move, move assignment
    Integrator(const Integrator &) = delete;
    Integrator &operator=(const Integrator &) = delete;
    Integrator(Integrator &&) = delete;
    Integrator &operator=(Integrator &&) = delete;

    bool put(const uint64_t &timestamp, const matrix::Vector3f &val, matrix::Vector3f &integral, uint32_t &integral_dt);

    bool put_with_interval(unsigned interval_us, matrix::Vector3f &val, matrix::Vector3f &integral, uint32_t &integral_dt);

    matrix::Vector3f    get(bool reset, uint32_t &integral_dt);


    matrix::Vector3f    get_and_filtered(bool reset, uint32_t &integral_dt, matrix::Vector3f &filtered_val);


    void set_autoreset_interval(uint32_t auto_reset_interval) { _auto_reset_interval = 0.90f * auto_reset_interval; }

private:
    uint32_t _auto_reset_interval{0};           
    uint64_t _last_integration_time{0};     
    uint64_t _last_reset_time{0};           
    matrix::Vector3f _alpha{0.0f, 0.0f, 0.0f};          
    matrix::Vector3f _last_alpha{0.0f, 0.0f, 0.0f};         
    matrix::Vector3f _beta{0.0f, 0.0f, 0.0f};               
    matrix::Vector3f _last_val{0.0f, 0.0f, 0.0f};   
    matrix::Vector3f _last_delta_alpha{0.0f, 0.0f, 0.0f};       
    bool _coning_comp_on{false};                
    /* Do a reset.
     *
     * @param integral_dt   Get the dt in us of the current integration.
     */
    void _reset(uint32_t &integral_dt);
};