32 lines
685 B
C++
32 lines
685 B
C++
// Copyright (C) 2023 Jérôme "Lynix" Leclercq (lynix680@gmail.com)
|
|
// This file is part of the "Nazara Engine - Math module"
|
|
// For conditions of distribution and use, see copyright notice in Config.hpp
|
|
|
|
#pragma once
|
|
|
|
#ifndef NAZARA_MATH_PIDCONTROLLER_HPP
|
|
#define NAZARA_MATH_PIDCONTROLLER_HPP
|
|
|
|
namespace Nz
|
|
{
|
|
template<typename T>
|
|
class PidController
|
|
{
|
|
public:
|
|
constexpr PidController(float p, float i, float d);
|
|
|
|
constexpr T Update(const T& currentError, float elapsedTime);
|
|
|
|
private:
|
|
T m_lastError;
|
|
T m_integral;
|
|
float m_dFactor;
|
|
float m_iFactor;
|
|
float m_pFactor;
|
|
};
|
|
}
|
|
|
|
#include <Nazara/Math/PidController.inl>
|
|
|
|
#endif // NAZARA_MATH_PIDCONTROLLER_HPP
|