scripts/base_controller/lib/pid/pid.h

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#ifndef PID_H
#define PID_H
 
namespace diffbot {
 
    class PID
    {
        public:
            PID(float min_val, float max_val, float kp, float ki, float kd);
            double compute(float setpoint, float measured_value);
            void updateConstants(float kp, float ki, float kd);
 
            inline double proportional() { return proportional_; };
            inline double integral() { return integral_; };
            inline double derivative() { return derivative_; };
            inline double prev_error() { return prev_error_; };
 
        private:
            float min_val_;
            float max_val_;
            float kp_;
            float ki_;
            float kd_;
            double proportional_;
            double integral_;
            double derivative_;
            double prev_error_;
    };
}
 
#endif