SimpleController.hpp

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// Copyright 2025 Intelligent Robotics Lab
//
// This file is part of the project Easy Navigation (EasyNav in short)
// licensed under the GNU General Public License v3.0.
// See <http://www.gnu.org/licenses/> for details.
 
#ifndef EASYNAV_SIMPLE_CONTROLLER__SIMPLECONTROLLER_HPP_
#define EASYNAV_SIMPLE_CONTROLLER__SIMPLECONTROLLER_HPP_
 
#include <memory>
#include <expected>
#include <string>
 
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "geometry_msgs/msg/point.hpp"
#include "geometry_msgs/msg/twist_stamped.hpp"
#include "nav_msgs/msg/path.hpp"
 
#include "easynav_core/ControllerMethodBase.hpp"
#include "easynav_common/types/NavState.hpp"
#include "easynav_simple_controller/PIDController.hpp"
 
namespace easynav
{

class SimpleController : public ControllerMethodBase
{
public:
  SimpleController();

  ~SimpleController() override;

  std::expected<void, std::string> on_initialize() override;

  void update_rt(NavState & nav_state) override;
 
protected:
  std::shared_ptr<PIDController> linear_pid_;   
  std::shared_ptr<PIDController> angular_pid_;  
 
  double max_linear_speed_{1.0};   
  double max_angular_speed_{1.0};  
  double max_linear_acc_{0.3};     
  double max_angular_acc_{0.3};    
  double look_ahead_dist_{1.0};    
  double tolerance_dist_{0.05};    
  double k_rot_{0.5};
 
  double last_vlin_{0.0};          
  double last_vrot_{0.0};          
 
  rclcpp::Time last_update_ts_;    
  geometry_msgs::msg::TwistStamped twist_stamped_;  

  geometry_msgs::msg::Pose get_ref_pose(
    const nav_msgs::msg::Path & path,
    double look_ahead);

  double get_distance(const geometry_msgs::msg::Pose & a, const geometry_msgs::msg::Pose & b);

  double get_angle(const geometry_msgs::msg::Point & from, const geometry_msgs::msg::Point & to);

  double get_diff_angle(
    const geometry_msgs::msg::Quaternion & a,
    const geometry_msgs::msg::Quaternion & b);
};
 
}  // namespace easynav
 
#endif  // EASYNAV_SIMPLE_CONTROLLER__SIMPLECONTROLLER_HPP_