differentiator.h

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/***********************************************************************/
#ifndef DIFFERENTIATOR_H_
#define DIFFERENTIATOR_H_
 
#include "vector.h"
 
template <class basetype, class datatype>
 class differentiator
   {
public:
   differentiator( basetype Tdiff, basetype Tsampling, const datatype& init_value = 0)
      : time_constant( Tdiff / Tsampling),
    old_value( init_value),
    differentiation(),
    output()
      {};
 
      datatype respond( const datatype & right)
         {
            output = (right-old_value) * time_constant;
            old_value = right;
            return output;
         };
 
   const datatype & get_value( void) const
      {
        return output;
      };
 
    datatype operator () ( void) const
      {
      return get_value();
      };
 
private:
   basetype time_constant;
   datatype old_value;
   datatype differentiation;
   datatype output;
   };
 
#endif /* DIFFERENTIATOR_H_ */