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30 #ifndef _RL_MATH_PID_H_
31 #define _RL_MATH_PID_H_
42 template<
typename T >
70 this->
i += this->
ki * e * dt;
71 T d = this->
kd * (e - this->
e) / dt;
73 return x + p + this->
i + d;
106 #endif // _RL_MATH_PID_H_