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#include "Complementary.hpp"
void Complementary::begin(float sampleRate, float tau, float state)
{
_dt = 1.0f / sampleRate;
_alpha = tau / (tau + _dt);
_state = state;
}
float Complementary::update(float rate, float position)
{
_state = _alpha * (_state + rate * _dt) + (1.0f - _alpha) * position;
return _state;
}