FfFbVehicleController.h

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#ifndef CONTROLS_CONTROLLER_FF_FB_VEHICLE_CONTROLLER_H
#define CONTROLS_CONTROLLER_FF_FB_VEHICLE_CONTROLLER_H
 
#include <controller/BuoyancyController.h>
#include <controller/FeedbackController.h>
#include <controller/FeedforwardController.h>
 
#include "controller/VehicleControllerInterface.h"
 
class FfFbVehicleController : public VehicleControllerInterface {
private:
    FeedforwardController ff_controller;
 
    FeedbackController fb_controller;
 
    BuoyancyController buoyancy_controller;
 
    double isSaturated;
 
public:
    FfFbVehicleController(std::shared_ptr<SystemDynamicsBase> systemProperties,
                          std::shared_ptr<ControllerConfig> controller_config);
 
    Vector6d spinControllerOnce(const State& goal, const State& current, const bool saturatedOnYawXYAxis,
                                const bool saturatedOnDepthRollPitchAxis, double dt) override;
 
    Vector6d getBodyPoseError() const override;
 
    void onTrajectoryStarting() override;
 
    void onTrajectoryFinished() override;
 
    void onStationkeepEntered() override;
 
    void onTrajectoryProgress(double progress) override;
};
 
#endif  // CONTROLS_CONTROLLER_FF_FB_VEHICLE_CONTROLLER_H