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#ifndef VEHICLEDRIVER_HPP_
#define VEHICLEDRIVER_HPP_
#include <labust/vehicles/vehiclesfwd.hpp>
#include <labust/apps/AppInterface.hpp>

namespace labust
{
  namespace vehicles
  {
    /**
     * This class specifies an configurable vehicle interface. Users should inherit from this class when
     * the driver will use or implement guidance algorithms inside. Also, for advanced usage of vehicles,
     * i.e. full implementation, you should implement this interface.
     */
    class Driver : public virtual labust::apps::App
    {
    public:
      /**
       * Virtual destructor. Remove the debugging message and the iostream include.
       */
      virtual ~Driver(){};
      /**
       * Method to set the force and torque vector. This approach abstracts different
       * vehicles fairly well. We can achieve control of all types of vehicles by simply
       * using specifying the desired forces and torque that should be applied via
       * thrusters and control surfaces.
       *
       * This method should throw a VehicleException.
       *
       * \param tau Force and torque map.
       * \see LABUST::VEHICLES::COREDATASET::tauVector
       */
      virtual void setTAU(const labust::vehicles::tauMapRef tau) = 0;
      /**
       * This method should be used to return the state vector. Number of states are vehicle
       * dependent. For this reason we use a map. Users can search the states they need by key
       * and can easily detect that states are missing.
       *
       * This method should no throw.
       *
       * \param states Different vehicle states.
       */
      virtual void getState(labust::vehicles::stateMapRef state) = 0;
      /**
       * Some vehicles support guidance set points, ie. desired speed and heading, depth, waypoint, etc.
       * You can transmit these set-points through this method.
       *
       * This method should throw a VehicleDriverException.
       *
       * \param guidance Desired set points and similar guidance values.
       */
      virtual void setGuidance(const labust::vehicles::guidanceMapRef guidance) = 0;
    };
  };
};
/* VEHICLEDRIVER_HPP_ */
#endif
