controller/fsdwController.h

#ifndef INCLUDE_NAVLIB_CONTROLLER_FSDWCONTROLLER
#define INCLUDE_NAVLIB_CONTROLLER_FSDWCONTROLLER

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

namespace navlib
{
        class FSDWController : public Controller
        {
        public:
                FSDWController(Shape* body, double minFwdVel, double maxFwdVel, 
                        double maxTTC, double k1=1.0, double kd=1.0, double alpha=1.0, 
                        double beta=0.1, double gamma=1.0, double delta=0.01, 
                        size_t numCurves=51);
                virtual ~FSDWController() {};
                Velocity getAction(Pose pose, Path* path, double dt, 
                         std::vector<Point> obstacles);

        private:
                Shape* _body; 
                Path* _path; 
                Velocity _prevAction; 
                double _k1; 
                double _kd; 
                double _alpha; 
                double _beta; 
                double _gamma; 
                double _delta; 
                double _minFwdVel; 
                double _maxFwdVel; 
                double _maxTTC; 
                size_t _nc; 
                double _s; 
        };
}

#endif

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