Continue on go to goal behaviour

server_v2/include/GoToGoalController.hpp

@@ -0,0 +1,29 @@
+//
+// Created by KonstantinViesure on 26.05.22.
+//
+
+#ifndef COMPLIB_SERVER_GOTOGOALCONTROLLER_HPP
+#define COMPLIB_SERVER_GOTOGOALCONTROLLER_HPP
+
+
+class GoToGoalController {
+public:
+  static GoToGoalController &getInstance() {
+    static GoToGoalController instance;
+    return instance;
+  }
+
+  GoToGoalController(GoToGoalController const &) = delete;
+
+  void operator=(GoToGoalController const &) = delete;
+
+  static void go_to_point(double goal_x, double goal_y, double v_ms);
+
+  static void diff_drive_inverse_kinematics(double v_m_s, double w_rad_s);
+
+private:
+  GoToGoalController() = default;
+};
+
+
+#endif //COMPLIB_SERVER_GOTOGOALCONTROLLER_HPP