PID.hpp

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#ifndef QTCTRL_PID_CTRL
#define QTCTRL_PID_CTRL

#include <ctrl/track.hpp>
#include <ctrl/goPID.hpp>


class PIDCtrl : public TrackingCtrl {
  PIDreachCtrl reachCtrl;   
  
public:
  PIDCtrl(const MotionModel& model, const double& ts,
          const char* input_file_name,
          const iSeeML::rob::OrPtConfig& init_config, 
          const double coef[6])
    : TrackingCtrl(model, ts, input_file_name, init_config),
      reachCtrl(model, ts, State(), coef) {}
  
  virtual ~PIDCtrl() {}
  
protected:
  // Cf Controller::choose_velocities(double&, double&, ...)
  virtual void chooseVelocities(double& trans_vel, double& rot_vel,
                                std::ostream& log_str);
  
}; // end of class PIDCtrl

#endif // QTCTRL_PID_CTRL