controller.hpp

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#ifndef QTCTRL_CONTROLLER
#define QTCTRL_CONTROLLER

#include <QObject>
#include <model/motion.hpp>
#include <model/state.hpp>

class Controller : public QObject {
  Q_OBJECT  // This macro is needed to handle signals
  
  bool first_odometry;
  
protected:  // for the inheriting controllers...
  const MotionModel& motion_model;

  const double time_step;

  double initial_date;

  double moving_velocity;
  double turning_velocity;  
  
  Controller(const MotionModel& model, const double& ts)
    : first_odometry(true), motion_model(model),
      time_step( fabs(ts) >= 1E-9 ? fabs(ts) : 1E-9 ) {}
  
  void updateVelocities(double& trans_vel, double& rot_vel) {
    trans_vel = moving_velocity;
    rot_vel   = turning_velocity;
    // signal the GUI to update command's display 
    // low frequency and small data: no copy nor mutex needed!
    commandsUpdated(trans_vel, rot_vel); 
  }
  
  bool firstOdometry() { return first_odometry; }
  
  void changeFirstOdometry() { first_odometry = !first_odometry; }
  
public:
  virtual ~Controller() {}
  
  const double& timeStep() const { return time_step; }
  
  virtual void newState(const State& state);

  void stopMotion()  { moving_velocity = turning_velocity = 0; }

  virtual void chooseVelocities(double& trans_vel, double& rot_vel,
                                std::ostream& log_str) = 0;

  
Q_SIGNALS:  // this requires the Q_OBJECT macro

  void stateUpdated(const State& state);

  void commandsUpdated(const double& trans_vel,
                       const double& rot_vel);

}; // end of class Controller


class NoCtrl : public Controller {
public:
  NoCtrl(const MotionModel& model) : Controller(model, 1) {}

  virtual ~NoCtrl() {}
  
  // Cf Controller::choose_velocities(geometry_msgs::Twist&)
  void chooseVelocities(double& trans_vel, double& rot_vel,
                        std::ostream&)
  { stopMotion(); updateVelocities(trans_vel, rot_vel); }
  
}; // end of class NoCtrl

#endif // QTCTRL_CONTROLLER