//
// Created by tlab-uav on 24-9-24.
//

#ifndef OCS2QUADRUPEDCONTROLLER_H
#define OCS2QUADRUPEDCONTROLLER_H
#include <controller_interface/controller_interface.hpp>


class Ocs2QuadrupedController final : public controller_interface::ControllerInterface {

public:
    CONTROLLER_INTERFACE_PUBLIC
    Ocs2QuadrupedController() = default;

    CONTROLLER_INTERFACE_PUBLIC
    controller_interface::InterfaceConfiguration command_interface_configuration() const override;

    CONTROLLER_INTERFACE_PUBLIC
    controller_interface::InterfaceConfiguration state_interface_configuration() const override;

    CONTROLLER_INTERFACE_PUBLIC
    controller_interface::return_type update(
        const rclcpp::Time &time, const rclcpp::Duration &period) override;

    CONTROLLER_INTERFACE_PUBLIC
    controller_interface::CallbackReturn on_init() override;

    CONTROLLER_INTERFACE_PUBLIC
    controller_interface::CallbackReturn on_configure(
        const rclcpp_lifecycle::State &previous_state) override;

    CONTROLLER_INTERFACE_PUBLIC
    controller_interface::CallbackReturn on_activate(
        const rclcpp_lifecycle::State &previous_state) override;

    CONTROLLER_INTERFACE_PUBLIC
    controller_interface::CallbackReturn on_deactivate(
        const rclcpp_lifecycle::State &previous_state) override;

    CONTROLLER_INTERFACE_PUBLIC
    controller_interface::CallbackReturn on_cleanup(
        const rclcpp_lifecycle::State &previous_state) override;

    CONTROLLER_INTERFACE_PUBLIC
    controller_interface::CallbackReturn on_shutdown(
        const rclcpp_lifecycle::State &previous_state) override;

    CONTROLLER_INTERFACE_PUBLIC
    controller_interface::CallbackReturn on_error(
        const rclcpp_lifecycle::State &previous_state) override;

};



#endif //OCS2QUADRUPEDCONTROLLER_H