Program Listing for File PID.h

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#pragmaonce
#include"Karana/SOADyn/KModel.h"
#include"Karana/SOADyn/PhysicalSubhinge.h"

namespaceKarana::Models{

namespacekm=Karana::Math;
namespacekd=Karana::Dynamics;

classPIDParams:publicKModelParams{
public:
PIDParams(std::string_viewname);

boolisFinalized()constfinal;

doublekp;

doublekd;

doubleki;
};

classPID:publicKModel<PID,PIDParams>{
public:
//TODOMakeprotected
PID(std::string_viewname,
constkc::ks_ptr<kd::StatePropagator>&sp,
constkc::ks_ptr<kd::PhysicalSubhinge>&sh,
std::function<km::Vec(constkm::Ktime&)>q_traj,
std::function<km::Vec(constkm::Ktime&)>u_traj);

~PID();

statickc::ks_ptr<PID>create(std::string_viewname,
constkc::ks_ptr<kd::StatePropagator>&sp,
constkc::ks_ptr<kd::PhysicalSubhinge>&sh,
std::function<km::Vec(constkm::Ktime&)>q_traj,
std::function<km::Vec(constkm::Ktime&)>u_traj);

voidpreDeriv(constkm::Ktime&t,constkm::Vec&x);

voidpreModelStep(constkm::Ktime&t,constkm::Vec&x);

conststd::string&typeString()constnoexcept;

private:
kc::ks_ptr<kd::PhysicalSubhinge>_sh;

std::function<km::Vec(constkm::Ktime&)>_q_traj;

std::function<km::Vec(constkm::Ktime&)>_u_traj;

km::Vec_e_prev;

km::Vec_integral_contrib;

km::Ktime_prev_t;
};
}//namespaceKarana::Models