global_frame_goto_control.hpp

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#pragma once
 
#include <eigen3/Eigen/Eigen>
#include <functional>
#include <memory>
#include <variant>
 
#include "../../auterion.hpp"
#include "local_frame_goto_control.hpp"
 
namespace auterion {
namespace multicopter {
class GlobalFrameGotoSetpoint {
   private:
    Eigen::Vector3d _global_position_lat_lon_amsl = {
        NAN, NAN, NAN};            
    float _heading_enu_rad = NAN;  
    GotoControlLimits _limits{NAN, NAN, NAN};
 
   public:
    class Config {
       public:
        Config(const GotoControlLimits& limits = GotoControlLimits()) : _default_limits(limits) {}
 
        inline GotoControlLimits getDefaultLimits() const { return _default_limits; }
 
       private:
        GotoControlLimits _default_limits;
    };
 
    GlobalFrameGotoSetpoint() = default;
 
    GlobalFrameGotoSetpoint(const Eigen::Vector3d& global_position_lat_lon_amsl,
                            const float heading_rad = NAN)
        : _global_position_lat_lon_amsl(global_position_lat_lon_amsl),
          _heading_enu_rad(heading_rad) {}
 
    GlobalFrameGotoSetpoint(const Eigen::Vector2d& global_position_lat_lon,
                            const float heading_rad = NAN)
        : _global_position_lat_lon_amsl(
              {global_position_lat_lon.x(), global_position_lat_lon.y(), NAN}),
          _heading_enu_rad(heading_rad) {}
 
    inline Eigen::Vector3d getPosition() const { return _global_position_lat_lon_amsl; }
 
    inline float getHeading() const { return _heading_enu_rad; }
 
    inline GotoControlLimits getLimits() const { return _limits; }
 
    GlobalFrameGotoSetpoint& withPosition(const Eigen::Vector3d& global_position_lat_lon_amsl) {
        _global_position_lat_lon_amsl = global_position_lat_lon_amsl;
        return *this;
    }
 
    GlobalFrameGotoSetpoint& withPosition(const Eigen::Vector2d& global_position_lat_lon) {
        _global_position_lat_lon_amsl.x() = global_position_lat_lon.x();
        _global_position_lat_lon_amsl.y() = global_position_lat_lon.y();
        return *this;
    }
 
    GlobalFrameGotoSetpoint& withHeading(const float heading_rad) {
        _heading_enu_rad = heading_rad;
        return *this;
    }
 
    GlobalFrameGotoSetpoint& withAltitude(const double z) {
        _global_position_lat_lon_amsl.z() = z;
        return *this;
    }
 
    GlobalFrameGotoSetpoint& withSpeedControlLimit(const GotoControlLimits& limits) {
        _limits = limits;
        return *this;
    }
 
    GlobalFrameGotoSetpoint& withMaxHorizontalSpeed(const float max_horizontal_speed_m_s_) {
        _limits.withMaxHorizontalSpeed(max_horizontal_speed_m_s_);
        return *this;
    }
 
    GlobalFrameGotoSetpoint& withMaxVerticalSpeed(const float max_vertical_speed_m_s_) {
        _limits.withMaxVerticalSpeed(max_vertical_speed_m_s_);
        return *this;
    }
 
    GlobalFrameGotoSetpoint& withMaxHeadingRate(const float max_heading_rate_rad_s_) {
        _limits.withMaxHeadingRate(max_heading_rate_rad_s_);
        return *this;
    }
};
 
}  // namespace multicopter
}  // namespace auterion