/home/travis/build/lis-epfl/MAVRIC_Library/control/adaptive_parameter.h

/*******************************************************************************
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/*******************************************************************************
 * \file adaptive_parameter.h
 *
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *
 * \brief This module automatically adapts the existing parameters based on
 * given control variable
 *
 ******************************************************************************/


#ifndef ADAPTIVE_PARAMETER_H_
#define ADAPTIVE_PARAMETER_H_

#ifdef __cplusplus
extern "C" {
#endif

#include "stdint.h"

#define MAX_ADAPT_PARAM_SETPOINTS 5
#define MAX_ADAPT_PARAM_COUNT 10


typedef struct
{
    float* control_variable;                    
    float* parameter;                           
    int32_t nb_setpoints;                       
    float setpoints[MAX_ADAPT_PARAM_SETPOINTS]; 
    float setvalues[MAX_ADAPT_PARAM_SETPOINTS]; 
} adaptive_parameter_t;


typedef struct
{
    int32_t param_count;                                        
    adaptive_parameter_t parameters[MAX_ADAPT_PARAM_COUNT];     
} adaptive_parameter_set_t;

adaptive_parameter_set_t* adaptive_parameter_get_param_set(void);

void adaptive_parameter_init(void);

int32_t adaptive_parameter_add(float* control_variable,
                               float* parameter,
                               int32_t nb_setpoints,
                               float* setpoints,
                               float* setvalues);
void adaptive_parameter_update(adaptive_parameter_t param);

void adaptive_parameter_update_all(void);

#ifdef __cplusplus
}
#endif

#endif /* ADAPTIVE_PARAMETER_H_ */