PID_Controller.h

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2024  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */
#pragma once
 
namespace mvsim
{
struct PID_Controller
{
        PID_Controller() = default;
 
        double KP = 1.0, KI = 0, KD = 0;
        double max_out = 0;      
 
        double compute(double err, double dt);
 
        void reset();
 
   private:
        double lastOutput = 0;
        double e_n = 0, e_n_1 = 0, e_n_2 = 0;
};
}  // namespace mvsim