Fang-Robotics-MCB
Fang Robotics Team Codebase
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ipid_modder.hpp
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1#pragma once
2
4
5namespace trap::algorithms
6{
12template<typename Control>
14{
15public:
19 virtual Control getModdedOutput(const Control& output) = 0;
20 virtual ~IPidModder() = default;
21};
22
26template<typename Control>
27class NullPidModder : public IPidModder<Control>
28{
29public:
30 virtual Control getModdedOutput(const Control& output) override
31 {
32 return output;
33 }
34};
35}
Definition ipid_modder.hpp:14
virtual ~IPidModder()=default
virtual Control getModdedOutput(const Control &output)=0
Definition ipid_modder.hpp:28
virtual Control getModdedOutput(const Control &output) override
Definition ipid_modder.hpp:30
Definition dimensional_smooth_pid.hpp:10