controller_interface.h

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//
// Created by wk on 2026/4/11.
//
#pragma once
#include <Eigen/Dense>
#include <geometry_msgs/Vector3.h>
#include "bipedal_wheel_controller/definitions.h"
#include "bipedal_wheel_controller/vmc/VMC.h"
 
namespace rm_chassis_controllers
{
class BipedalControllerInterface
{
public:
  virtual ~BipedalControllerInterface() = default;
 
  virtual bool getStateChange() const = 0;
  virtual void setStateChange(bool state) = 0;
  virtual int getBaseState() const = 0;
  virtual bool getOverturn() const = 0;
  virtual void setMode(int mode) = 0;
  virtual void clearRecoveryFlag() = 0;
  virtual bool getCompleteStand() const = 0;
  virtual Eigen::Matrix<double, 4, CONTROL_DIM * STATE_DIM> getCoeffs() = 0;
 
  virtual const std::shared_ptr<ModelParams>& getModelParams() const = 0;
  virtual const std::shared_ptr<ControlParams>& getControlParams() const = 0;
  virtual const std::shared_ptr<BiasParams>& getBiasParams() const = 0;
  virtual const std::shared_ptr<LegStateThresholdParams>& getLegThresholdParams() const = 0;
  virtual const std::shared_ptr<ChassisGeometryParams>& getChassisGeometryParams() const = 0;
  virtual double getLegCmd() const = 0;
  virtual double getJumpCmd() const = 0;
  virtual double getDefaultLegLength() const = 0;
  virtual geometry_msgs::Vector3 getVelCmd() = 0;
  virtual bool getMoveFlag() const = 0;
  virtual void setMoveFlag(const bool& move_flag) = 0;
  virtual const ChassisState& getChassisState() = 0;
  virtual LegState& getLegState(Side side) = 0;
  virtual bool getDown5cmStairFlag() const = 0;
  virtual void setDown5cmStairFlag(bool flag) = 0;
  virtual void setCompleteStand(bool state) = 0;
  virtual void setJumpCmd(bool cmd) = 0;
  virtual double f_spring_force(double L0) = 0;
  virtual void pubState() = 0;
  virtual void pubLQRStatus(Eigen::Matrix<double, STATE_DIM, 1> left_error,
                            Eigen::Matrix<double, STATE_DIM, 1> right_error,
                            Eigen::Matrix<double, STATE_DIM, 1> left_ref, Eigen::Matrix<double, STATE_DIM, 1> right_ref,
                            Eigen::Matrix<double, CONTROL_DIM, 1> u_left, Eigen::Matrix<double, CONTROL_DIM, 1> u_right,
                            Eigen::Matrix<double, CONTROL_DIM, 1> F_leg_, const bool unstick[2]) const = 0;
  virtual void pubLegLenStatus(const bool& upstair_flag) = 0;
  virtual void clearStatus() = 0;
  virtual void pubDebugData(const std::string& name, double value) = 0;
  virtual bool getRecoveryLegSpdTurnback() const = 0;
  virtual void setRecoveryLegSpdTurnback(bool recovery_leg_spd_turnback) = 0;
  virtual double getLegThetaOffset(const double& leg_len) = 0;
};
 
}  // namespace rm_chassis_controllers