PIDController.hpp

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// Copyright 2021 Intelligent Robotics Lab
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

 
#ifndef EASYNAV_SIMPLE_CONTROLLER__PIDCONTROLLER_HPP_
#define EASYNAV_SIMPLE_CONTROLLER__PIDCONTROLLER_HPP_
 
#include <cmath>
 
namespace easynav
{

class PIDController
{
public:
  PIDController(double min_ref, double max_ref, double min_output, double max_output);

  void set_pid(double n_KP, double n_KI, double n_KD);

  double get_output(double new_reference, double dt);

  void reset();
 
private:
  double KP_;               
  double KI_;               
  double KD_;               
 
  double min_ref_;          
  double max_ref_;          
  double min_output_;       
  double max_output_;       
 
  double prev_error_;       
  double int_error_;        
  double integral_limit_ {0.0}; 
};
 
}  // namespace easynav
 
#endif  // EASYNAV_SIMPLE_CONTROLLER__PIDCONTROLLER_HPP_