void rateSetGlobalSlew(Rate rate) {
if(rate == NULL) { return; }
memcpy(&global_rate, rate, sizeof(RateStruct));
generateDisplacement(&global_rate, &global_displacement);
}
void rateSetBodySlew(Rate rate) {
if(rate == NULL) { return; }
memcpy(&body_rate, rate, sizeof(RateStruct));
generateDisplacement(&body_rate, &body_displacement);
}
// =========== Public Methods ==================================================
void rateSetup(float ts) {
period = ts;
global_rate.yaw_rate = 0.0;
global_rate.pitch_rate = 0.0;
global_rate.roll_rate = 0.0;
generateDisplacement(&global_rate, &global_displacement);
body_rate.yaw_rate = 0.0;
body_rate.pitch_rate = 0.0;
body_rate.roll_rate = 0.0;
generateDisplacement(&body_rate, &body_displacement);
is_running = 0;
is_ready = 1;
}
void UnconstrainedTestProblem::generateDisplacement() {
generateDisplacement(DEFAULT_STANDARD_DEVIATION);
}
