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;
 
    static constexpr double MAX_CG_CB_OFFSET = 0.01;
 
private:
    Vector6d buoyancy_bias_ = Vector6d::Zero();
 
    bool is_stationkeeping_ = false;
 
    static bool adapt_axis(double& bias, double error_sig, double rate, double adapt_rate, double pos_thresh,
                           double vel_thresh, double clamp, double dt);
 
public:
    using BaseControllerInterface::BaseControllerInterface;
 
    void reset() override;
 
    void set_stationkeeping(bool stationkeeping);
 
    Vector6d get_force(const State& goal, const State& curr, double dt) override;
};
 
#endif  // CONTROLS_CONTROLLER_BUOYANCY_CONTROLLER_H