PIDParameters.h

/*
 * This file is part of LSST M1M3 support system package.
 *
 * Developed for the Vera C. Rubin Telescope and Site System.
 * This product includes software developed by the LSST Project
 * (https://www.lsst.org).
 * See the COPYRIGHT file at the top-level directory of this distribution
 * for details of code ownership.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef PIDPARAMETERS_H_
#define PIDPARAMETERS_H_
 
#include <math.h>
 
namespace LSST {
namespace M1M3 {
namespace SS {
 
struct PIDParameters {
    PIDParameters() { Timestep = P = I = D = N = NAN; }
 
    PIDParameters(const PIDParameters &pid) {
        Timestep = pid.Timestep;
        P = pid.P;
        I = pid.I;
        D = pid.D;
        N = pid.N;
    }
 
    PIDParameters(double _timestep, double _p, double _i, double _d, double _n) {
        Timestep = _timestep;
        P = _p;
        I = _i;
        D = _d;
        N = _n;
    }
 
    //* Length of step (seconds)
    double Timestep;
    //* Proportional gain (unitless)
    double P;
    //* Integral gain (unitless)
    double I;
    //* Derivative gain (unitless)
    double D;
    double N;
};
 
}  // namespace SS
}  // namespace M1M3
}  // namespace LSST
 
#endif /* PIDPARAMETERS_H_ */