PidWithExternalState.h

#pragma once
 
class PidWithExternalState
{
public:
   void Initialize(double P, double I, double D, double minOut, double maxOut);
 
   double Output(double error, double integratedError, double time) const;
 
   double IntegralRate(double error, double integratedError) const;
 
   void Accept(double error, double time);
 
private:
   double m_P         = 0.0;
   double m_I         = 0.0;
   double m_D         = 0.0;
   double m_minOut    = 0.0;
   double m_maxOut    = 0.0;
   bool   m_hasLast   = false;
   double m_lastError = 0.0;
   double m_lastTime  = 0.0;
};