Program Listing for File base_controllerQ3D.hpp

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#pragma once

/*******************************************************************************
 * Includes
 ******************************************************************************/
#include <memory>
#include <string>
#include <typeindex>

#include "rcppsw/math/vector3.hpp"

#include "cosm/controller/base_controller.hpp"
#include "cosm/spatial/metrics/dist3D_metrics.hpp"
#include "cosm/spatial/metrics/goal_acq_metrics.hpp"
#include "cosm/subsystem/subsystem_fwd.hpp"

/*******************************************************************************
 * Namespaces
 ******************************************************************************/
namespace cosm::tv {
class irv_manager;
} /* namespace cosm::tv */

namespace cosm::controller {

/*******************************************************************************
 * Class Definitions
 ******************************************************************************/
class base_controllerQ3D : public base_controller,
                           public csmetrics::dist3D_metrics {
 public:
  base_controllerQ3D(void) RCPPSW_COLD;
  ~base_controllerQ3D(void) override RCPPSW_COLD;

  base_controllerQ3D(const base_controllerQ3D&) = delete;
  base_controllerQ3D& operator=(const base_controllerQ3D&) = delete;

  /* swarm spatial distribution 3D metrics */
  rmath::vector3d rpos3D(void) const override final RCPPSW_PURE;
  rmath::vector3z dpos3D(void) const override final RCPPSW_PURE;
  rmath::radians azimuth(void) const override final RCPPSW_PURE;
  rmath::radians zenith(void) const override final RCPPSW_PURE;

  rmath::vector2z dpos2D(void) const RCPPSW_PURE;
  rmath::vector2d rpos2D(void) const RCPPSW_PURE;

  void sensing_update(const rtypes::timestep& tick,
                      const rtypes::discretize_ratio& ratio) override;
  void sensing_update(const rtypes::timestep& tick) override;

  rmath::radians heading2D(void) const RCPPSW_PURE;

  void mdc_ts_update(void) const override final;
};

} /* namespace cosm::controller */