ipid_modder.hpp

Go to the documentation of this file.

#pragma once
 
#include "wrap/units/units_alias.hpp"
 
namespace trap::algorithms
{
template<typename Control>
class IPidModder
{
public:
    virtual Control getModdedOutput(const Control& output) = 0;
    virtual ~IPidModder() = default;
};
 
template<typename Control>
class NullPidModder : public IPidModder<Control>
{
public:
    virtual Control getModdedOutput(const Control& output) override
    {
        return output;
    }
};
}