Single header PID controller implementation

pid.hpp

#pragma once

template<typename T>
class PID {
public:

    PID(T Kp, T Ki, T Kd, T minInt, T maxInt) {
        _kp = Kp;
        _ki = Ki;
        _kd = Kd;
        _minInt = minInt;
        _maxInt = maxInt;
    }

    T computeControl(T error) {
        // Proportional
        T pTerm = _kp * error;
        // Integral
        _int += error;
        if (_int < _minInt)
            _int = _minInt;
        else if (_int > _maxInt)
            _int = _maxInt;
        T iTerm = _ki * _int;
        // Derivative
        T dTerm = _kd * (_der - error);
        _der = error;
        // Return sum of terms
        return (pTerm + iTerm + dTerm);
    }

private:

    // Configuration of controller
    T _kp      {};
    T _ki      {};
    T _kd      {};
    T _minInt  {};
    T _maxInt  {};

    // Internal state
    T _int     {};
    T _der     {};

};