main.cpp

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#include <memory>
#include <unistd.h>
 
#include "ControllerNode.hpp"
 
// NOTE: Settings moved to settings/controller.conf
 
int main(int argc, char* argv[]) {
  rclcpp::init(argc, argv);
 
  auto node = std::make_shared<ControllerNode>();
 
  rclcpp::spin(node);
  rclcpp::shutdown();
 
  return 0;
}
 
// int main(int argc, char ** argv)
// {
//   (void) argc;
//   (void) argv;
 
//   std::shared_ptr<std::vector<float>> yawStepsSPtr = std::make_shared<std::vector<float>>();
//   yawStepsSPtr->push_back(-0.698132);
//   yawStepsSPtr->push_back(-0.349066);
//   yawStepsSPtr->push_back(0);
//   yawStepsSPtr->push_back(0.349066);
//   yawStepsSPtr->push_back(0.698132);
 
//   galaxis::control::TwoAndAHalfCarrots control(yawStepsSPtr, 0.5, 2, 3);
 
//   std::shared_ptr<galaxis::PolySpline> spline = std::make_shared<galaxis::PolySpline>();
//   galaxis::polynom poly({0, -100});
//   spline->add_polynom(0, 100, poly);
 
//   std::cout << "Best Yaw Rate: " << control.calculate_best_yaw_rate(spline, 1) << std::endl;
//   return 0;
// }