error_accumulator.cpp

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#include "pch.h"
 
#include "error_accumulator.h"
 
// todo: shall we rename to StatsIntegrator or SomethingIntegrator assuming we see not "Error Accumulator" usages?
// todo: ValueIntegrator maybe?
float ErrorAccumulator::accumulate(float error) {
    // We only care about the absolute value of the error
    error = absF(error);
 
    // If m_ignoreError is 5, for example:
    // 0 error      -> bleeds down at 5 per second
    // 5 error      -> integral stays where it is
    // 10 error     -> integral grows at 5 per second
    float accumulationRate = error - m_ignoreError;
 
    float newIntegral = accumulationRate * m_dt + m_errorIntegral;
 
    // Don't allow less than 0 error
    if (newIntegral < 0) {
        newIntegral = 0;
    }
 
    m_errorIntegral = newIntegral;
 
    return newIntegral;
}
 
void ErrorAccumulator::reset() {
    m_errorIntegral = 0;
}