CPidController.h

#pragma once
 
#include <stdio.h>
#include <string>
 
#include "SimObject.h"
#include "sfh/filters/FIR.h"
#include "sfh/timers/StopWatch.h"
#include "sfh/filters/PID.h"
class CPidController : public SimObject
{
public:
    CPidController(std::string sSimObjectName, ISimObjectCreator* pCreator);
 
    ~CPidController();
 
    virtual void OdeFcn(const double dT, const double* const adX, double* const adXDot, const bool bIsMajorTimeStep);
 
#ifdef FH_VISUALIZATION
    virtual void            RenderInit(Ogre::Root* const pOgreRoot, ISimObjectCreator* const pCreator){};
    virtual void            RenderUpdate(const double dT, const double* const adX){};
#endif
protected:
    const double* Out(const double dT, const double* const adX);
 
    ISignalPort*                m_pInMeasurement;       
    ISignalPort*                m_pInReference;         
    //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;
};