#pragma once #include #include #include #include #include // #include "mpc/mpc_solver.h" namespace mpc_controler_ns { class MPC_Controler { public: MPC_Controler(); ~MPC_Controler(); void initialize(std::string name); Eigen::Vector2d trackTrajectory(const geometry_msgs::PoseStamped &robot_pose, const double &robot_velocity, const nav_msgs::Path &local_plan, const bool is_get_new_path); private: double robot_yaw_; geometry_msgs::PoseStamped robot_pose_; // std::shared_ptr mpcPtr_; ros::Publisher robot_control_signal_pub_; }; };