velocity_based_position_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.h"
#include "velocity_based_position_controller_config.pb.h"

class VelocityBasedPositionController
    : public Controller<PositionYaw, PositionYaw, VelocityYaw> {
public:
  VelocityBasedPositionController()
      : config_(VelocityBasedPositionControllerConfig()) {}
  VelocityBasedPositionController(VelocityBasedPositionControllerConfig config)
      : config_(config) {}
  virtual ~VelocityBasedPositionController() {}

protected:
  virtual bool runImplementation(PositionYaw sensor_data, PositionYaw goal,
                                 VelocityYaw &control);
  virtual ControllerStatus isConvergedImplementation(PositionYaw sensor_data,
                                                     PositionYaw goal);
  VelocityBasedPositionControllerConfig config_; 
};