public:

/**

* TODO: Create the PID class

**/

/*

* Errors

*/

double p_error, i_error, d_error;

/*

* Coefficients

*/

double Kp, Ki, Kd;

/*

* Output limits

*/

double min_lim, max_lim;

/*

* Delta time

*/

double delta_time;

/*

* Constructor

*/

PID();

/*

* Destructor.

*/

virtual ~PID();

/*

* Initialize PID.

*/

void Init(double Kp, double Ki, double Kd, double output_lim_max, double output_lim_min);

/*

* Update the PID error variables given cross track error.

*/

void UpdateError(double cte);

/*

* Calculate the total PID error.

*/

double TotalError();

/*

* Update the delta time.

*/

double UpdateDeltaTime(double new_delta_time);