BuoyancyController.h

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#ifndef CONTROLS_CONTROLLER_BUOYANCY_CONTROLLER_H
#define CONTROLS_CONTROLLER_BUOYANCY_CONTROLLER_H
 
#include <controller/BaseControllerInterface.h>
 
class BuoyancyController : public BaseControllerInterface {
    static constexpr double MAX_DT            = 0.1;
    static constexpr double EXPLODE_THRESHOLD = 1e4;
 
private:
    double buoyancy_bias_ = 0.0;
 
    double saved_buoyancy_bias_ = 0.0;
 
public:
    using BaseControllerInterface::BaseControllerInterface;
 
    void reset() override;
 
    Vector6d getForce(const State& goal, const State& curr, double dt) override;
 
    void saveBias();
 
    void loadBias();
 
    double getBias() const;
};
 
#endif  // CONTROLS_CONTROLLER_BUOYANCY_CONTROLLER_H