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#include "HeadingSmoothing.hpp"

HeadingSmoothing::HeadingSmoothing()
{
	_velocity_smoothing.setMaxVel(M_PI_F); // smoothed "velocity" is heading [-pi, pi]
}

void HeadingSmoothing::reset(const float heading, const float heading_rate)
{
	const float wrapped_heading = matrix::wrap_pi(heading);
	_velocity_smoothing.setCurrentVelocity(wrapped_heading);
	_velocity_smoothing.setCurrentAcceleration(heading_rate);
}

void HeadingSmoothing::update(const float heading_setpoint, const float time_elapsed)
{
	const float delta_heading_wrapped = matrix::wrap_pi(heading_setpoint - getSmoothedHeading());
	const float unwrapped_heading_setpoint = delta_heading_wrapped + getSmoothedHeading();

	_velocity_smoothing.updateDurations(unwrapped_heading_setpoint);
	_velocity_smoothing.updateTraj(time_elapsed);

	const float wrapped_current_heading = matrix::wrap_pi(getSmoothedHeading());
	_velocity_smoothing.setCurrentVelocity(wrapped_current_heading);
}