motion_pid.hpp

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#pragma once
 
#include <memory>
#include "foundation/pid.hpp"
 
namespace libstp::motion
{
    // Forward declaration
    struct UnifiedMotionPidConfig;

    enum class PidType
    {
        Distance,  // For forward/backward distance control
        Heading,   // For heading/yaw control
    };

    std::unique_ptr<foundation::PidController> createPidController(
        const UnifiedMotionPidConfig& unified_config,
        PidType type);
}