SlipLaunchController.h

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#ifndef __SLIPLAUNCHCONTROLLER_H__
#define __SLIPLAUNCHCONTROLLER_H__
#include "SimpleLaunchController.h"
 
namespace SlipLaunchControllerParams
{
    const int16_t DEFAULT_LAUNCH_SPEED_TARGET = BaseLaunchControllerParams::DEFAULT_LAUNCH_SPEED_TARGET;
    const float DEFAULT_SLIP_RATIO = 0.2f;
};
class TorqueControllerSlipLaunch : public virtual BaseLaunchController
{
private:
    float slip_ratio_;
 
public:
    TorqueControllerSlipLaunch(float slip_ratio, int16_t initial_speed_target)
        : BaseLaunchController(initial_speed_target),
          slip_ratio_(slip_ratio) {}
    TorqueControllerSlipLaunch() : TorqueControllerSlipLaunch(SlipLaunchControllerParams::DEFAULT_SLIP_RATIO, SlipLaunchControllerParams::DEFAULT_LAUNCH_SPEED_TARGET) {}
    void calc_launch_algo(const VectornavData_s &vn_data) override;
};
#endif // __SLIPLAUNCHCONTROLLER_H__