BaseControllerInterface.h

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#ifndef CONTROLS_CONTROLLER_BASE_CONTROLLER_INTERFACE_H
#define CONTROLS_CONTROLLER_BASE_CONTROLLER_INTERFACE_H
 
#include <controller/ControllerConfig.h>
#include <dynamics/SystemDynamicsBase.h>
#include <utils/Transforms.h>
 
class BaseControllerInterface {
protected:
    std::shared_ptr<SystemDynamicsBase> auv_;
 
    std::shared_ptr<ControllerConfig> config_;
 
public:
    BaseControllerInterface() = default;
 
    BaseControllerInterface(std::shared_ptr<SystemDynamicsBase> auv, std::shared_ptr<ControllerConfig> config)
        : auv_(std::move(auv)), config_(std::move(config)) {
    }
 
    virtual ~BaseControllerInterface() = default;
 
    virtual void reset() {};
 
    virtual Vector6d getForce(const State& goal, const State& curr, double dt) = 0;
};
 
#endif  // CONTROLS_CONTROLLER_BASE_CONTROLLER_INTERFACE_H