relative_pose_controller.h

Go to the documentation of this file.

#pragma once
#include "aerial_autonomy/controllers/base_controller.h"
#include "aerial_autonomy/types/position.h"
#include "pose_controller_config.pb.h"

#include <tuple>

#include <tf/tf.h>

class RelativePoseController
    : public Controller<std::tuple<tf::Transform, tf::Transform>, tf::Transform,
                        tf::Transform> {
public:
  RelativePoseController(PoseControllerConfig config) : config_(config) {}
  virtual ~RelativePoseController() {}

protected:
  virtual bool
  runImplementation(std::tuple<tf::Transform, tf::Transform> sensor_data,
                    tf::Transform goal, tf::Transform &control);
  virtual ControllerStatus isConvergedImplementation(
      std::tuple<tf::Transform, tf::Transform> sensor_data, tf::Transform goal);

private:
  PoseControllerConfig config_;
};