base_steering.H

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// Copyright (C) 2005 Pablo Mejia
// Copyright (C) 2005 University of Louisiana at Lafayette
// Authors: Pablo Mejia, Suresh Golconda

#ifndef CAJUN_BASE_STEERING_H
#define CAJUN_BASE_STEERING_H


#include "guide_data.H"
#include "heading_data.H"
#include "steering_data.H"
#include "conf.H"
#include "integral.H"


namespace cajun
{
        class base_steering_t
        {
        public:
                base_steering_t () :
                        m_last_error (0),
                        m_last_error_rate (0),
                        m_last_error_tstamp (0),
                        m_debug_steering (false)
                {
                }
                virtual ~base_steering_t () {}

                virtual bool read_config (const conf_t &conf)
                {
                        return conf.require ("debug_steering",
                                             m_debug_steering);
                }
                virtual void init ()
                {
                        m_last_error = 0;
                        m_last_error_rate = 0;
                        m_last_error_tstamp = 0;
                }

                virtual void steer (steering_data_t &steering,
                                    double steering_position,
                                    guide_data_t const &gd,
                                    heading_data_t const &heading_data,
                                    double speed_, bool forward,
                                    bool tight_path) = 0;

        protected:
                double m_last_error;
                double m_last_error_rate;
                double m_last_error_tstamp;
                bool m_debug_steering;
        };
};


#endif

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