+#define ESTIMATOR_SIZE 16
+
+class PIChaser {
+ public:
+ PIChaser();
+ ~PIChaser();
+
+ double get_ratio( framepos_t chasetime_measured, framepos_t chasetime, framepos_t slavetime_measured, framepos_t slavetime, bool in_control, int period_size );
+ void reset();
+ framepos_t want_locate() { return want_locate_val; }
+
+ private:
+ PIController *pic;
+ framepos_t realtime_stamps[ESTIMATOR_SIZE];
+ framepos_t chasetime_stamps[ESTIMATOR_SIZE];
+ int array_index;
+ framepos_t want_locate_val;
+
+ void feed_estimator( framepos_t realtime, framepos_t chasetime );
+ double get_estimate();
+
+ double speed;
+
+ double speed_threshold;
+ framepos_t pos_threshold;
+};
+
+