Discrete-Time Integrator with Forward Eular Method

integrator.h

#pragma once
template<typename T>
class DescreteTimeIntegrator {
	T x;
	T y;
	T Ts;
	T K;
public:
	DescreteTimeIntegrator(T k, T ts,T initial = T()) : K(k), Ts(ts) {
		y = initial;
	}
	T update(T input) {
		// forward eular
		x = y + K * Ts * input;
		y = x;
		return y;
	}
	void reset(T initial) { y = initial; }
};