mpc.h 716 B

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  1. #pragma once
  2. #include <iostream>
  3. #include <ros/ros.h>
  4. #include <nav_msgs/Path.h>
  5. #include <Eigen/Dense>
  6. #include <nav_msgs/Odometry.h>
  7. // #include "mpc/mpc_solver.h"
  8. namespace mpc_controler_ns
  9. {
  10. class MPC_Controler
  11. {
  12. public:
  13. MPC_Controler();
  14. ~MPC_Controler();
  15. void initialize(std::string name);
  16. 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);
  17. private:
  18. double robot_yaw_;
  19. geometry_msgs::PoseStamped robot_pose_;
  20. // std::shared_ptr<mpc_car::MpcCar> mpcPtr_;
  21. ros::Publisher robot_control_signal_pub_;
  22. };
  23. };