builtin_velocity_controller_drone_connector.h

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#pragma once

#include "aerial_autonomy/controller_hardware_connectors/base_controller_hardware_connector.h"
#include "aerial_autonomy/types/velocity_yaw.h"

#include <parsernode/parser.h>

class BuiltInVelocityControllerDroneConnector
    : public ControllerHardwareConnector<VelocityYaw, VelocityYaw,
                                         VelocityYaw> {
public:
  BuiltInVelocityControllerDroneConnector(
      parsernode::Parser &drone_hardware,
      Controller<VelocityYaw, VelocityYaw, VelocityYaw> &controller)
      : ControllerHardwareConnector(controller, HardwareType::UAV),
        drone_hardware_(drone_hardware) {}

protected:
  virtual bool extractSensorData(VelocityYaw &sensor_data);

  virtual void sendHardwareCommands(VelocityYaw controls);

private:
  parsernode::Parser &drone_hardware_;
};