goPID.hpp

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#ifndef QTCTRL_PID_REACH_CTRL
#define QTCTRL_PID_REACH_CTRL

#include <ctrl/reach.hpp>
#include <iSeeML/rob/OrPtConfig.hpp>

class PIDreachCtrl : public ReachingCtrl {
  double trans_prop_coef;   
  double trans_integ_coef;  
  double trans_deriv_coef;  
  double rot_prop_coef;     
  double rot_integ_coef;    
  double rot_deriv_coef;    

  double integr_dist;       
  double integr_angle_diff; 
  
public:
  PIDreachCtrl(const MotionModel& model, const double& ts,
               const State& goal_aimed, const double coef[6])
    : ReachingCtrl(model, ts, goal_aimed),
      trans_prop_coef(coef[0]), trans_integ_coef(coef[1]),
      trans_deriv_coef(coef[2]), rot_prop_coef(coef[3]), 
      rot_integ_coef(coef[4]), rot_deriv_coef(coef[5]),
      integr_dist(0), integr_angle_diff(0) {}

  virtual ~PIDreachCtrl() {}
  
  // Cf Controller::choose_velocities(double&, double&, ...)
  void chooseVelocities(double& trans_vel, double& rot_vel,
                        std::ostream&);

};  // end of class PIDreachCtrl

#endif // QTCTRL_PID_REACH_CTRL