hysteresis_filter.h

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#pragma once
 
namespace argos_lib {
 
  template <typename T>
  class HysteresisFilter {
   public:
    HysteresisFilter() = delete;
 
    HysteresisFilter(T deactivateThreshold, T activateThreshold)
        : m_activateThreshold(activateThreshold), m_deactivateThreshold(deactivateThreshold) {}
 
    [[nodiscard]] bool operator()(T newValue) {
      if (m_currentState) {
        if (newValue < m_deactivateThreshold) {
          m_currentState = false;
        }
      } else {
        if (newValue > m_activateThreshold) {
          m_currentState = true;
        }
      }
      return m_currentState;
    }
 
   private:
    const T m_activateThreshold;    
    const T m_deactivateThreshold;  
    bool m_currentState;            
  };
}  // namespace argos_lib