control.hpp

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#pragma once
 
#include <auterion_sdk/control/common/attitude_control.hpp>
#include <auterion_sdk/control/common/rate_control.hpp>
#include <auterion_sdk/control/multicopter/body_frame_dynamics_control.hpp>
#include <auterion_sdk/control/multicopter/global_frame_goto_control.hpp>
#include <auterion_sdk/control/multicopter/local_frame_dynamics_control.hpp>
#include <auterion_sdk/control/multicopter/local_frame_goto_control.hpp>
 
namespace auterion {
 
using ModalityConfig = std::variant<
    RateSetpoint::Config, AttitudeSetpoint::Config, multicopter::BodyFrameDynamicsSetpoint::Config,
    multicopter::LocalFrameDynamicsSetpoint::Config, multicopter::LocalFrameGotoSetpoint::Config,
    multicopter::GlobalFrameGotoSetpoint::Config>;
 
using Setpoint =
    std::variant<RateSetpoint, AttitudeSetpoint, multicopter::LocalFrameDynamicsSetpoint,
                 multicopter::BodyFrameDynamicsSetpoint, multicopter::LocalFrameGotoSetpoint,
                 multicopter::GlobalFrameGotoSetpoint>;
 
}  // namespace auterion