pid_controller.h

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#ifndef PID_CONTROLLER_H
#define PID_CONTROLLER_H
 
#include "bitrl/bitrl_types.h"
 
#include <utility>
 
namespace bitrl
{
    namespace control
    {
        class PIDController
        {
            public:
 
            typedef real_t ctrl_signal_type;
 
            PIDController(real_t Kp, real_t Ki, real_t Kd);
 
            real_t get_kp()const noexcept{return kp_;}
            real_t get_ki()const noexcept{return ki_;}
            real_t get_kd()const noexcept{return kd_;}
 
            bool is_limited()const noexcept{return is_limited_;}
 
            void set_control_limits(std::pair<real_t, real_t> limits);
 
            ctrl_signal_type compute_ctrl_signal(real_t current, real_t target, real_t dt);
 
        private:
 
            bool is_limited_{false};
            real_t kp_;
            real_t ki_;
            real_t kd_;
 
            real_t integral_{0.0};
            real_t err_old_{0.0};
            // min = limits.first, max = limits.second
            std::pair<real_t, real_t> limits_;
 
        };
 
        inline
        PIDController::PIDController(real_t kp, real_t ki, real_t kd)
            :
        kp_(kp),
        ki_(ki),
        kd_(kd)
        {}
 
        inline
        void
        PIDController::set_control_limits(std::pair<real_t, real_t> limits)
        {
            is_limited_ = true;
            limits_ = limits;
        }
    }
 
}
 
#endif //PID_CONTROLLER_H