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#ifndef CONTROLFWD_HPP_
#define CONTROLFWD_HPP_

/**
 * General controller tuning parameters. Useful for controller tuning.
 */
#include <labust/xml/adapt_class.hpp>
PP_LABUST_MAKE_STRUCT_WITH_XML(
		(labust)(control),TuningParameters,
		(double, alpha)
		(double, beta)
		(double, betaa)
		(double, w)
		(double, max))

namespace labust
{
	namespace control
	{
		/**
		 * Generic controller tuning.
		 *
		 * \param param Tuning parameters for the controller.
		 * \param pid Address of the PID controller to tune.
		 *
		 * \tparam PID Allow the function for different controllers.
		 */
		void tuneController(const TuningParameters& param, IPD* pid)
		{
		  double a3 = 1/(param.w*param.w*param.w), a2 = 3/(param.w*param.w), a1 = 3/(param.w);

		  double K_Ipsi = param.alpha/a3;
		  double K_Ppsi = param.alpha*a1/a3;
		  double K_Dpsi = (param.alpha*a2/a3 - param.beta);

		  //pid->setGains(a1*param.alpha/a3,param.alpha*a3,a2/a3*param.alpha - param.beta,0);
		  pid->setGains(K_Ppsi,K_Ipsi,K_Dpsi,K_Dpsi/10);

		  labust::math::Limit<double> limit(-param.max,param.max);
		  pid->setLimits(limit);
		}
	}
}
/* CONTROLFWD_HPP_ */
#endif
