PathFollowingController.h

#pragma once
 
#include <frc/kinematics/ChassisSpeeds.h>
#include <frc/geometry/Pose2d.h>
#include <units/length.h>
#include "pathplanner/lib/trajectory/PathPlannerTrajectory.h"
 
namespace pathplanner {
class PathFollowingController {
public:
    virtual ~PathFollowingController() {
    }
 
    virtual frc::ChassisSpeeds calculateRobotRelativeSpeeds(
            const frc::Pose2d &currentPose,
            const PathPlannerTrajectoryState &targetState) = 0;
 
    virtual void reset(const frc::Pose2d &currentPose,
            const frc::ChassisSpeeds &currentSpeeds) = 0;
 
    virtual units::meter_t getPositionalError() = 0;
 
    virtual bool isHolonomic() = 0;
};
}