p.h

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 * @details
 * This file defines the @ref control_system::proportional::P class,
 * which implements a proportional controller.
 *
 * The controller generates an output proportional to the difference
 * between the reference input and the measured or current value.
 *
 * The controller output is limited by the configured maximum output
 * value.
 *
 * The class is templated to support different numeric types such as
 * @c float and @c double.
 *
 * @tparam T Numeric data type used for the controller calculations.
 *
 * @author Abhinay Kumar
 * @version 1.0.0
 * @date 2026-08-11
 *
 * @copyright
 * Copyright (c) 2026 Abhinay Kumar
 */
 
#ifndef CONTROL_SYSTEM_PROPORTIONAL_P_H
#define CONTROL_SYSTEM_PROPORTIONAL_P_H
 
#include "../utility/utility.h"
 
namespace control_system
{
    /**
     * @namespace control_system
     * @brief Contains control-system algorithms and controllers.
     */
 
    namespace proportional
    {


        /**
         * @class P
         * @brief Proportional controller.
         *
         * @details
         * The P class implements a proportional controller in which the
         * control output is proportional to the control error.
         *
         * The controller uses a configurable proportional gain and
         * maximum output limit.
         *
         * @tparam T Numeric data type used for the controller.
         *
         * @par Example
         * @code{.cpp}
         * control_system::proportional::P<double> controller;
         *
         * controller.init(2.0, 100.0);
         *
         * double output = controller.update(reference, measurement);
         * @endcode
         */
        template <typename T>
        class P
        {
        public:
            P();

            void init(T Kp_, T u_max_);

            void set_param(T Kp_, T u_max_);

            T update(T x_0, T x);

            void reset();

            void set_Kp(T Kp_);

            void set_u_max(T u_max_);

            T get_Kp();

            T get_u_max();
 
        private:
            T Kp = 0.0;

            T u_max = 9999999999;
        };
 
#include "../../src/proportional/p.tpp"
    }
}
 
#endif