dynamics_control.hpp

#pragma once
 
#include <eigen3/Eigen/Eigen>
#include <functional>
#include <memory>
#include <variant>
 
#include "../../auterion.hpp"
 
namespace auterion {
namespace fixedwing {
 
class DynamicsSetpoint {
   private:
    float _course_setpoint = NAN;
    float _lateral_acceleration_setpoint = NAN;
    float _altitude_setpoint = NAN;
    float _height_rate_setpoint = NAN;
    float _equivalent_airspeed_setpoint = NAN;
 
   public:
    class Config {};
 
    DynamicsSetpoint() = default;
 
    DynamicsSetpoint& withCourse(float course_sp) {
        _course_setpoint = course_sp;
        return *this;
    }
 
    DynamicsSetpoint& withLateralAcceleration(float acceleration_sp) {
        _lateral_acceleration_setpoint = acceleration_sp;
        return *this;
    }
 
    DynamicsSetpoint& withAltitude(float altitude_sp) {
        _altitude_setpoint = altitude_sp;
        return *this;
    }
 
    DynamicsSetpoint& withHeightRate(float height_rate_sp) {
        _height_rate_setpoint = height_rate_sp;
        return *this;
    }
 
    DynamicsSetpoint& withEquivalentAirspeed(float equivalent_airspeed_sp) {
        _equivalent_airspeed_setpoint = equivalent_airspeed_sp;
        return *this;
    }
 
    inline float getCourseSetpoint() const { return _course_setpoint; }
    inline float getLateralAccelerationSetpoint() const { return _lateral_acceleration_setpoint; }
    inline float getAltitudeSetpoint() const { return _altitude_setpoint; }
    inline float getHeightRateSetpoint() const { return _height_rate_setpoint; }
    inline float getEquivalentAirspeedSetpoint() const { return _equivalent_airspeed_setpoint; }
};
}  // namespace fixedwing
}  // namespace auterion