guidance_strategy.hpp

/****************************************************************************
 *
 * Copyright 2026 Auterion. All rights reserved.
 *
 ****************************************************************************/
 
#pragma once
 
#include <Eigen/Eigen>
#include <auterion_sdk/system_state/system_state.hpp>
 
namespace auterion {
 
struct GuidanceInput {
    Eigen::Vector3d los{Eigen::Vector3d::Zero()};
    Eigen::Vector3d los_rate{Eigen::Vector3d::Zero()};
 
    Eigen::Quaterniond attitude_enu{Eigen::Quaterniond::Identity()};
    Eigen::Vector3d velocity_enu{Eigen::Vector3d::Zero()};
    Eigen::Vector3d acceleration_flu{Eigen::Vector3d::Zero()};
 
    bool following{false};
    double dt_s{0.0};
 
    double manual_pitch{0.0};
    double manual_roll{0.0};
    double manual_throttle{0.0};
    double manual_yaw{0.0};
 
    // TEMPORARY: position fields needed by the host app — pending SDK inclusion.
    Eigen::Vector3f position_enu_m{Eigen::Vector3f::Zero()};
    bool local_position_valid{false};
    GlobalPosition global_position{};
    bool global_position_valid{false};
};
 
struct GuidanceOutput {
    Eigen::Vector3d acceleration_enu{Eigen::Vector3d::Zero()};
    bool auto_level{true};
    double thrust_rate{0.0};
};
 
class IGuidanceStrategy {
   public:
    virtual ~IGuidanceStrategy() = default;
 
    virtual GuidanceOutput compute(const GuidanceInput& input) = 0;
 
    virtual void onActivate() {}
 
    virtual void onDeactivate() {}
};
 
}  // namespace auterion