body_frame_dynamics_control.hpp

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#pragma once
 
#include <eigen3/Eigen/Eigen>
#include <functional>
#include <memory>
#include <variant>
 
#include "../../auterion.hpp"
 
namespace auterion {
namespace multicopter {
class BodyFrameDynamicsSetpoint {
   private:
    Eigen::Vector3f _velocity_body_flu_m_s = {NAN, NAN, NAN};
    Eigen::Vector3f _acceleration_body_flu_m_s2 = {NAN, NAN, NAN};
    float _heading_rad = NAN;
    float _heading_rate_rad_s = NAN;
 
   public:
    class Config {};
 
    BodyFrameDynamicsSetpoint() = default;
 
    inline Eigen::Vector3f getVelocity() const { return _velocity_body_flu_m_s; }
 
    inline Eigen::Vector3f getAcceleration() const { return _acceleration_body_flu_m_s2; }
 
    inline float getHeading() const { return _heading_rad; }
 
    inline float getHeadingRate() const { return _heading_rate_rad_s; }
 
    inline BodyFrameDynamicsSetpoint& withAcceleration(
        const Eigen::Vector3f& acceleration_body_flu_m_s2) {
        _acceleration_body_flu_m_s2 = acceleration_body_flu_m_s2;
        return *this;
    }
 
    inline BodyFrameDynamicsSetpoint& withHorizontalAcceleration(
        const Eigen::Vector2f& acceleration_body_flu_m_s2) {
        _acceleration_body_flu_m_s2.x() = acceleration_body_flu_m_s2.x();
        _acceleration_body_flu_m_s2.y() = acceleration_body_flu_m_s2.y();
        return *this;
    }
 
    inline BodyFrameDynamicsSetpoint& withVerticalAcceleration(float acceleration_body_flu_m_s2) {
        _acceleration_body_flu_m_s2.z() = acceleration_body_flu_m_s2;
        return *this;
    }
 
    inline BodyFrameDynamicsSetpoint& withVelocity(const Eigen::Vector3f& velocity_body_flu_m_s) {
        _velocity_body_flu_m_s = velocity_body_flu_m_s;
        return *this;
    }
 
    inline BodyFrameDynamicsSetpoint& withHorizontalVelocity(
        const Eigen::Vector2f& velocity_body_flu_m_s) {
        _velocity_body_flu_m_s.x() = velocity_body_flu_m_s.x();
        _velocity_body_flu_m_s.y() = velocity_body_flu_m_s.y();
        return *this;
    }
 
    inline BodyFrameDynamicsSetpoint& withVerticalVelocity(float velocity_body_flu_m_s) {
        _velocity_body_flu_m_s.z() = velocity_body_flu_m_s;
        return *this;
    }
 
    inline BodyFrameDynamicsSetpoint& withHeading(float heading_rad) {
        _heading_rad = heading_rad;
        return *this;
    }
 
    inline BodyFrameDynamicsSetpoint& withHeadingRate(float heading_rate_rad_s) {
        _heading_rate_rad_s = heading_rate_rad_s;
        return *this;
    }
};
 
}  // namespace multicopter
}  // namespace auterion