PIDController.h

#ifndef __PIDController_H
#define __PIDController_H
 
#include <fhsim/simobject/SimObject.h>
#include <string>
#include <Eigen/Eigen>
using namespace Eigen;
 
 
namespace Ship{
    class PIDController: public SimObject
    {
    public:
        PIDController(const std::string& simObjectName, ISimObjectCreator* const creator); 
        virtual void OdeFcn(const double T, const double* const X, double* const XDot) const; 
        void AcceptedStep(double T, const double* X) override; 
 
    #ifdef FH_VISUALIZATION
        virtual void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator){} 
 
        virtual void RenderUpdate(const double T, const double* const X){} 
    #endif
 
    protected:
        const double* Out(const double T, const double *const X);
 
        double Kp,Kd,Ki;
        double m_ControlValue;
        ISignalPort* m_InCurrent;   
        ISignalPort* m_InCurrentRate;   
        ISignalPort* m_InDesired;   
        ISignalPort* m_InDesiredRate;   
        int m_IErrorIntegral;   
 
        double m_CurrentNumericalDerivative;
        double m_LastValue; 
        double m_LastTime; 
    };
}
#endif