//
// 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