PidController.h

#pragma once
 
#include "sfh/filters/FIR.h"
#include "sfh/filters/PID.h"
#include "sfh/timers/StopWatch.h"
 
#include <fhsim/simobject/SimObject.h>
#include <stdio.h>
#include <string>
class PidController : public SimObject
{
public:
   PidController(std::string simObjectName, ISimObjectCreator* creator);
 
   ~PidController();
 
   virtual void OdeFcn(const double dT, const double* const adX, double* const adXDot) const override;
   virtual void AcceptedStep(const double dT, const double* const adX) override;
 
#ifdef FH_VISUALIZATION
   virtual void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator) { };
   virtual void RenderUpdate(const double dT, const double* const adX) { };
#endif
protected:
   const double* Out(const double dT, const double* const adX);
 
   ISignalPort* m_inMeasurement; 
   ISignalPort* m_inReference;   
   // double                        m_outMax;
   // double                        m_outMin;
 
   // double                        m_ProportionalGain;
   // double                        m_IntegratorTime;
   // double                        m_DerivativeTime;
 
   // double                        m_IntegratorEffectMax;
   // double                        m_DerivativeEffectMax;
 
   // sfh::filters::FIR         m_derivativeFilter;
   // sfh::timers::StopWatch        m_stopWatch_timestep;
   // sfh::timers::StopWatch        m_stopWatch_errorDiff;
   sfh::filters::PID m_PID;
   double            m_output;
};