attitude_control.hpp

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#pragma once
#include <eigen3/Eigen/Eigen>
 
namespace auterion {
class AttitudeSetpoint {
   private:
    Eigen::Quaternionf _attitude_enu;
    Eigen::Vector3f _thrust_flu_normalized;
 
   public:
    class Config {};
 
    AttitudeSetpoint() = default;
    ~AttitudeSetpoint() = default;
 
    AttitudeSetpoint(const Eigen::Quaternionf& attitude_enu,
                     const Eigen::Vector3f& thrust_flu_normalized)
        : _attitude_enu(attitude_enu), _thrust_flu_normalized(thrust_flu_normalized) {}
 
    AttitudeSetpoint(const Eigen::Quaternionf& attitude_enu, const float thrust_up_normalized)
        : AttitudeSetpoint(attitude_enu, Eigen::Vector3f(0, 0, thrust_up_normalized)) {}
 
    inline Eigen::Quaternionf getAttitude() const { return _attitude_enu; }
 
    inline Eigen::Vector3f getThrust() const { return _thrust_flu_normalized; }
 
    AttitudeSetpoint& withAttitude(const Eigen::Quaternionf& attitude_enu) {
        _attitude_enu = attitude_enu;
        return *this;
    }
 
    AttitudeSetpoint& withThrust(const Eigen::Vector3f& thrust_flu_normalized) {
        _thrust_flu_normalized = thrust_flu_normalized;
        return *this;
    }
 
    AttitudeSetpoint& withThrustUp(const float thrust_up_normalized) {
        _thrust_flu_normalized = Eigen::Vector3f(0, 0, thrust_up_normalized);
        return *this;
    }
};
 
}  // namespace auterion