constant_heading_depth_controller.h

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#pragma once
#include "aerial_autonomy/controllers/base_controller.h"
#include "aerial_autonomy/types/position_yaw.h"
#include "aerial_autonomy/types/velocity_yaw_rate.h"
#include "constant_heading_depth_controller_config.pb.h"
#include <tf/tf.h>

class ConstantHeadingDepthController
    : public Controller<PositionYaw, Position, VelocityYawRate> {
public:
  ConstantHeadingDepthController()
      : ConstantHeadingDepthController(ConstantHeadingDepthControllerConfig()) {
  }
  ConstantHeadingDepthController(ConstantHeadingDepthControllerConfig config)
      : config_(config) {}
  virtual ~ConstantHeadingDepthController() {}

protected:
  virtual bool runImplementation(PositionYaw sensor_data, Position goal,
                                 VelocityYawRate &control);
  virtual ControllerStatus isConvergedImplementation(PositionYaw sensor_data,
                                                     Position goal);
  ConstantHeadingDepthControllerConfig config_; 
};