#ifndef SIMPLE_CONTROLLER_H
#define SIMPLE_CONTROLLER_H
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <Eigen/Core>
class SimpleController
{
    public:
    SimpleController(const ros::NodeHandle & ,double radius, double seperation);
    private:
    void velCallBack(const geometry_msgs::Twist &);
    ros::NodeHandle nh_;
    ros::Subscriber vel_sub_;
    ros::Publisher right_cmd_pub_;
    ros::Publisher left_cmd_pub_;
    Eigen::Matrix2d speed_conversion_;
};
#endif