VehicleControllerInterface.h

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#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> system_dynamics,
                               std::shared_ptr<ControllerConfig> controller_config)
        : system_dynamics_(std::move(system_dynamics)), controller_config_(std::move(controller_config)) {
    }
 
    virtual ~VehicleControllerInterface() = default;
 
    std::shared_ptr<SystemDynamicsBase> system_dynamics_;
 
    std::shared_ptr<ControllerConfig> controller_config_;
 
    virtual Vector6d spin_controller_once(const State& goal, const State& current, const bool saturated_on_yaw_xy_axis,
                                          const bool saturated_on_depth_roll_pitch_axis, double dt)
        = 0;
 
    virtual Vector6d get_body_pose_error() const = 0;
 
    virtual void on_trajectory_starting() = 0;
 
    virtual void on_trajectory_finished() = 0;
 
    virtual void on_stationkeep_entered() = 0;
 
    virtual void on_trajectory_progress(double progress) = 0;
};
 
#endif  // CONTROLS_CONTROLLER_VEHICLE_CONTROLLER_INTERFACE_H