VehicleControllerInterface.h

Go to the documentation of this file.

#ifndef CONTROLS_CONTROLLER_VEHICLE_CONTROLLER_INTERFACE_H
#define CONTROLS_CONTROLLER_VEHICLE_CONTROLLER_INTERFACE_H
 
#include <controller/BaseControllerInterface.h>
#include <controller/ControllerConfig.h>
 
#include <memory>
 
#include "dynamics/SystemDynamicsBase.h"
 
class VehicleControllerInterface {
public:
    VehicleControllerInterface(std::shared_ptr<SystemDynamicsBase> systemDynamics,
                               std::shared_ptr<ControllerConfig> controller_config)
        : systemDynamics(std::move(systemDynamics)), controller_config(std::move(controller_config)) {
    }
 
    virtual ~VehicleControllerInterface() = default;
 
    std::shared_ptr<SystemDynamicsBase> systemDynamics;
 
    std::shared_ptr<ControllerConfig> controller_config;
 
    virtual Vector6d spinControllerOnce(const State& goal, const State& current, const bool saturatedOnYawXYAxis,
                                        const bool saturatedOnDepthRollPitchAxis, double dt)
        = 0;
 
    virtual Vector6d getBodyPoseError() const = 0;
 
    virtual void onTrajectoryStarting() = 0;
 
    virtual void onTrajectoryFinished() = 0;
 
    virtual void onStationkeepEntered() = 0;
 
    virtual void onTrajectoryProgress(double progress) = 0;
};
 
#endif  // CONTROLS_CONTROLLER_VEHICLE_CONTROLLER_INTERFACE_H