TrajectoryRunnerProperties.hpp

#pragma once
 
#include <frc/controller/HolonomicDriveController.h>
#include <frc/geometry/Pose2d.h>
#include <frc/kinematics/ChassisSpeeds.h>
#include <functional>
#include <memory>
 
namespace thunder {
 
struct TrajectoryRunnerProperties {
  using GetPoseFunc = std::function<frc::Pose2d()>;
  using ResetPoseFunc = std::function<void(const frc::Pose2d&)>;
  using GetSpeedsFunc = std::function<frc::ChassisSpeeds()>;
  using SetSpeedsFunc = std::function<void(const frc::ChassisSpeeds&)>;
 
  GetPoseFunc getPose;
 
  ResetPoseFunc resetPose;
 
  SetSpeedsFunc setSpeeds;
 
  std::shared_ptr<frc::HolonomicDriveController> controller;
 
  bool isValid() const { return (getPose != nullptr) && (setSpeeds != nullptr) && (controller != nullptr); }
 
  explicit operator bool() const { return isValid(); }
};
 
}  // namespace thunder