PidControl.h

#pragma once

namespace AnimatSim
{
                class ANIMAT_PORT PidControl : public CStdPID, public AnimatBase 
                {
                protected:
                    bool m_bInitEnabled;

            //Used for reporting of enabled state of this controller
            float m_fltEnabled;

                public:
                        PidControl();
            PidControl(float fltSetpoint, float fltGain, float fltIntegralAct, float fltDerivativeAct, 
                bool bComplexError, bool bAntiResetWindup, bool bRampLimit, 
                float fltRangeMax, float fltRangeMin, float fltARWBound, float fltRampGradient);
                        virtual ~PidControl();

                        static PidControl *CastToDerived(AnimatBase *lpBase) {return static_cast<PidControl*>(lpBase);}

                    virtual bool Enabled();
                    virtual void Enabled(bool bValue);

                        virtual bool SetData(const std::string &strDataType, const std::string &strValue, bool bThrowError = true);
                        virtual void QueryProperties(CStdPtrArray<TypeProperty> &aryProperties);
                        virtual float *GetDataPointer(const std::string &strDataType);
                        virtual void ResetSimulation();
                        virtual void Load(CStdXml &oXml);
                };

}                               //AnimatSim