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#pragma once
#include "facetracknoir/timer.hpp"
#include <algorithm>
class lerp {
private:
double last[2][6], dt;
Timer t;
public:
lerp() :
last { {0,0,0,0,0,0}, {0,0,0,0,0,0} }, dt(1)
{
}
bool idempotentp(const double* input)
{
for (int i = 0; i < 6; i++)
if (last[0][i] != input[i])
return false;
return true;
}
void write(const double* input, double* output)
{
const double q = dt;
dt = std::max(1, t.start());
const double c = std::max(std::min(1.0, q/(double)dt), 0.0);
for (int i = 0; i < 6; i++)
{
last[1][i] = last[0][i];
last[0][i] = input[i];
}
for (int i = 0; i < 6; i++)
output[i] = last[1][i] + (last[0][i] - last[1][i]) * c;
}
void get_state(double* state)
{
for (int i = 0; i < 6; i++)
state[i] = last[0][i];
}
};
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