PIDController.h

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// This file is part of the MercuryDPM project (https://www.mercurydpm.org).
// Copyright (c), The MercuryDPM Developers Team. All rights reserved.
// License: BSD 3-Clause License; see the LICENSE file in the root directory.
 
//
// Created by reza on 04-01-21.
//
 
#ifndef MERCURYDPM_PIDCONTROLLER_H
#define MERCURYDPM_PIDCONTROLLER_H
#include "Math/ExtendedMath.h"
 
class PIDController {
    Mdouble pGain;
    Mdouble iGain;
    Mdouble dGain;
    Mdouble iController = 0;
    bool filterFlag=true;
    Mdouble previousError;
    Mdouble filterError;
 
public:
// Constructor
    PIDController(Mdouble pGain, Mdouble iGain,Mdouble dGain)
            : pGain(pGain), iGain(iGain),dGain(iGain)
    {}
    Mdouble apply (Mdouble stressError, Mdouble timeStep);
};
 
 
#endif //MERCURYDPM_PIDCONTROLLER_H