PidController.h

#pragma once
 
#include "trawl/subroutines/PidWithExternalState.h"
 
#include <fhsim/simobject/SimObject.h>
#include <string>
 
class PidController : public SimObject
{
public:
   PidController(std::string simObjectName, ISimObjectCreator* creator);
 
   void OdeFcn(const double T, const double* const X, double* const XDot) const override;
   void AcceptedStep(const double T, const double* const X) override;
 
protected:
   const double* Out(const double T, const double* const X);
 
   double Error(const double T, const double* const X) const;
 
   ISignalPort*         m_inMeasurement; 
   ISignalPort*         m_inReference;   
   PidWithExternalState m_controller;
   int                  m_IStateIntegratedError = 0;
   double               m_output                = 0.0;
};