controller/frenetSerretController.h

#ifndef INCLUDE_NAVLIB_CONTROLLER_FRENETSERRETCONTROLLER
#define INCLUDE_NAVLIB_CONTROLLER_FRENETSERRETCONTROLLER

#include "controller.h"
#include "path.h"

namespace navlib
{
        class FrenetSerretController : public Controller
        {
        public:
                FrenetSerretController(double k1, double k2, double kd, double gamma);
                virtual ~FrenetSerretController() {};
                Velocity getAction(Pose pose, Path* path, double dt, double v=1.0);

        private:
                Path* _path; 
                double _k1; 
                double _k2; 
                double _kd; 
                double _gamma;
                double _s; 
        };
}

#endif

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