Add abstract controller

Author: Saurav Agarwal

cppsrc/core/include/CoverageControl/algorithms/abstract_controller.h

@@ -0,0 +1,63 @@
+/*
+ * This file is part of the CoverageControl library
+ *
+ * Author: Saurav Agarwal
+ * Contact: [email protected], [email protected]
+ * Repository: https://github.com/KumarRobotics/CoverageControl
+ *
+ * Copyright (c) 2024, Saurav Agarwal
+ *
+ * The CoverageControl library is free software: you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * The CoverageControl library is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along with
+ * CoverageControl library. If not, see <https://www.gnu.org/licenses/>.
+ */
+
+/*!
+ * \file abstract_controller.h
+ * \brief Contains the abstract class for coverage control algorithms
+ */
+
+#ifndef CPPSRC_CORE_INCLUDE_COVERAGECONTROL_ALGORITHMS_ABSTRACT_CONTROLLER_H_
+#define CPPSRC_CORE_INCLUDE_COVERAGECONTROL_ALGORITHMS_ABSTRACT_CONTROLLER_H_
+
+#include "CoverageControl/typedefs.h"
+#include "CoverageControl/parameters.h"
+#include "CoverageControl/coverage_system.h"
+
+namespace CoverageControl {
+
+/*!
+ * \addtogroup cpp_api
+ * @{
+ * \class AbstractController
+ * @}
+ * The class AbstractController is an abstract class for coverage control
+ *algorithms. It provides a common interface for all coverage control
+ *algorithms. Pure virtual functions: GetActions and ComputeActions
+ **/
+class AbstractController {
+ public:
+  /*!
+   * Pure virtual function to get the actions for the robots
+   * \return The actions for the robots
+   **/
+  virtual PointVector GetActions() = 0;
+
+  /*!
+   * Pure virtual function to compute the actions for the robots
+   * \return True if the actions are computed successfully, false otherwise
+   **/
+  virtual bool ComputeActions() = 0;
+};
+
+} /* namespace CoverageControl */
+#endif  // CPPSRC_CORE_INCLUDE_COVERAGECONTROL_ALGORITHMS_ABSTRACT_CONTROLLER_H_