base_controller.h

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#pragma once

#include "aerial_autonomy/common/atomic.h"
#include "aerial_autonomy/common/controller_status.h"

template <class SensorDataType, class GoalType, class ControlType>
class Controller {
public:
  virtual bool run(SensorDataType sensor_data, ControlType &control) {
    return runImplementation(sensor_data, goal_, control);
  }

  ControllerStatus isConverged(SensorDataType sensor_data) {
    return isConvergedImplementation(sensor_data, goal_);
  }
  virtual void setGoal(GoalType goal) { goal_ = goal; }
  virtual GoalType getGoal() const { return goal_; }
  virtual ~Controller() {}

protected:
  virtual bool runImplementation(SensorDataType sensor_data, GoalType goal,
                                 ControlType &control) = 0;
  virtual ControllerStatus isConvergedImplementation(SensorDataType sensor_data,
                                                     GoalType goal) = 0;

private:
  Atomic<GoalType> goal_;
};