VelocityController.hpp

/*
    Copyright (c) Tobias Löw
    Written by Tobias Löw <https://tobiloew.ch>
 
    This file is part of orwell.
 
    gafro is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License version 3 as
    published by the Free Software Foundation.
 
    gafro is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
    GNU General Public License for more details.
 
    You should have received a copy of the GNU General Public License
    along with gafro. If not, see <http://www.gnu.org/licenses/>.
*/
 
#pragma once
 
#include <atomic>
#include <memory>
//
#include <orwell/Controller.hpp>
#include <orwell/ReferenceController.hpp>
#include <orwell/RobotState.hpp>
 
namespace orwell
{
    template <int dof>
    class VelocityController : public Controller<dof>,
                               public sackmesser::FactoryClass<VelocityController<dof>, const sackmesser::Interface::Ptr &, const std::string &>
    {
      public:
        VelocityController(const sackmesser::Interface::Ptr &interface, const std::string &name);
 
        virtual ~VelocityController() = default;
 
        virtual typename RobotState<dof>::Vector computeCommand() = 0;
 
        using Ptr = std::shared_ptr<VelocityController>;
 
      private:
    };
 
    template <int dof, class Reference>
    using VelocityReferenceController = ReferenceController<Reference, VelocityController<dof>>;
 
}  // namespace orwell
 
#include <orwell/velocity/VelocityController.hxx>