base_control_solver.hpp

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#pragma once
 
#include "custom_interfaces/msg/path_point_array.hpp"
#include "custom_interfaces/msg/velocities.hpp"
#include "custom_interfaces/msg/pose.hpp"
#include "control/include/config/parameters.hpp"
#include "common_lib/structures/control_command.hpp"
 
class ControlSolver {
protected:
  std::shared_ptr<ControlParameters> params_;
public:
  virtual void path_callback(const custom_interfaces::msg::PathPointArray& msg) = 0;
 
  virtual void vehicle_state_callback(const custom_interfaces::msg::Velocities& msg) = 0;
 
  virtual void vehicle_pose_callback(const custom_interfaces::msg::Pose& msg) = 0;
 
  virtual common_lib::structures::ControlCommand get_control_command() = 0;
 
  virtual void publish_solver_data(std::shared_ptr<rclcpp::Node> node, std::map<std::string, std::shared_ptr<rclcpp::PublisherBase>>& publisher_map) = 0;
 
  ControlSolver(const ControlParameters& params) : params_(std::make_shared<ControlParameters>(params)) {};
  virtual ~ControlSolver() = default;
};