reference_tracking_controller.hpp

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// Copyright 2020 the Autoware Foundation
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Co-developed by Tier IV, Inc. and Apex.AI, Inc.
#ifndef REFERENCE_TRACKING_CONTROLLER__REFERENCE_TRACKING_CONTROLLER_HPP_
#define REFERENCE_TRACKING_CONTROLLER__REFERENCE_TRACKING_CONTROLLER_HPP_

#include <reference_tracking_controller/visibility_control.hpp>

#include <type_traits>

namespace autoware
{
namespace common
{
namespace reference_tracking_controller
{
template<typename T>
class REFERENCE_TRACKING_CONTROLLER_PUBLIC ReferenceTrackerBase
{
  static_assert(
    std::is_floating_point<T>::value,
    "Reference trackers only work for floating point types");

public:
  struct SignalWithDerivative
  {
    T value;  
    T derivative;  
  };  // struct SignalWithDerivative
  virtual ~ReferenceTrackerBase() = default;
  virtual T feedback(SignalWithDerivative reference, SignalWithDerivative observation) = 0;

  T feedback(T reference, SignalWithDerivative observation)
  {
    return feedback({reference, T{}}, observation);
  }

  T feedback(SignalWithDerivative reference, T observation)
  {
    return feedback(reference, {observation, T{}});
  }

  T feedback(T reference, T observation)
  {
    return feedback({reference, T{}}, {observation, T{}});
  }
};  // ReferenceTrackerBase
}  // namespace reference_tracking_controller
}  // namespace common
}  // namespace autoware

#endif  // REFERENCE_TRACKING_CONTROLLER__REFERENCE_TRACKING_CONTROLLER_HPP_