manual_rpyt_controller.h

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#pragma once
#include "aerial_autonomy/controllers/base_controller.h"
#include "aerial_autonomy/types/empty_goal.h"
#include "aerial_autonomy/types/joysticks_yaw.h"
#include "aerial_autonomy/types/roll_pitch_yaw_thrust.h"

class ManualRPYTController
    : public Controller<JoysticksYaw, EmptyGoal, RollPitchYawThrust> {
public:
  virtual ~ManualRPYTController() {}

protected:
  virtual bool runImplementation(JoysticksYaw sensor_data, EmptyGoal goal,
                                 RollPitchYawThrust &control);
  virtual ControllerStatus isConvergedImplementation(JoysticksYaw, EmptyGoal) {
    return ControllerStatus(ControllerStatus::Completed);
  }

private:
  double map(double input, double input_min, double input_max,
             double output_min, double output_max);
};