analytic.hpp

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#ifndef QTCTRL_ANALYTIC_CTRL
#define QTCTRL_ANALYTIC_CTRL

#include <ctrl/track.hpp>


class AnalyticCtrl : public TrackingCtrl {
  // === Adding fields may be useful =================================

public:
  AnalyticCtrl(const MotionModel& model, const double& ts,
               const char* input_file_name,
               const iSeeML::rob::OrPtConfig& init_config)
    : TrackingCtrl(model, ts, input_file_name, init_config)
      /* === add fields initialisation if needed === */ {}
  
  virtual ~AnalyticCtrl() {}
  
  // Cf Controller::choose_velocities(double&, double&, ...)
  virtual void chooseVelocities(double& trans_vel, double& rot_vel,
                                std::ostream& log_str);
  
}; // end of class AnalyticCtrl

#endif // QTCTRL_ANALYTIC_CTRL