local_frame_goto_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 {
struct GotoControlLimits {
   public:
    float max_horizontal_speed_m_s = 5.f;
    float max_vertical_speed_m_s = 2.f;
    float max_heading_rate_rad_s = 1.f;
 
    GotoControlLimits() = default;
 
    GotoControlLimits(const float max_horizontal_speed_m_s_, const float max_vertical_speed_m_s_,
                      const float max_heading_rate_rad_s_)
        : max_horizontal_speed_m_s(max_horizontal_speed_m_s_),
          max_vertical_speed_m_s(max_vertical_speed_m_s_),
          max_heading_rate_rad_s(max_heading_rate_rad_s_) {}
 
    GotoControlLimits& withMaxHorizontalSpeed(const float max_horizontal_speed_m_s_) {
        this->max_horizontal_speed_m_s = max_horizontal_speed_m_s_;
        return *this;
    }
 
    GotoControlLimits& withMaxVerticalSpeed(const float max_vertical_speed_m_s_) {
        this->max_vertical_speed_m_s = max_vertical_speed_m_s_;
        return *this;
    }
 
    GotoControlLimits& withMaxHeadingRate(const float max_heading_rate_rad_s_) {
        this->max_heading_rate_rad_s = max_heading_rate_rad_s_;
        return *this;
    }
};
 
class LocalFrameGotoSetpoint {
   private:
    Eigen::Vector3f _local_position_enu = {NAN, NAN, NAN};
    float _heading_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;
    };
 
    LocalFrameGotoSetpoint() = default;
 
    LocalFrameGotoSetpoint(const Eigen::Vector3f& local_position_enu, const float heading_rad = NAN)
        : _local_position_enu(local_position_enu), _heading_rad(heading_rad) {}
 
    LocalFrameGotoSetpoint(const Eigen::Vector2f& local_position_en, const float heading_rad = NAN)
        : _local_position_enu({local_position_en.x(), local_position_en.y(), NAN}),
          _heading_rad(heading_rad) {}
 
    inline Eigen::Vector3f getPosition() const { return _local_position_enu; }
 
    inline float getHeading() const { return _heading_rad; }
 
    inline GotoControlLimits getLimits() const { return _limits; }
 
    LocalFrameGotoSetpoint& withPosition(const Eigen::Vector3f& local_position_enu) {
        _local_position_enu = local_position_enu;
        return *this;
    }
 
    LocalFrameGotoSetpoint& withPosition(const Eigen::Vector2f& local_position_en) {
        _local_position_enu.x() = local_position_en.x();
        _local_position_enu.y() = local_position_en.y();
        return *this;
    }
 
    LocalFrameGotoSetpoint& withHeading(const float heading_rad) {
        _heading_rad = heading_rad;
        return *this;
    }
 
    LocalFrameGotoSetpoint& withAltitude(const float z) {
        _local_position_enu.z() = z;
        return *this;
    }
 
    LocalFrameGotoSetpoint& withSpeedControlLimit(const GotoControlLimits& limits) {
        _limits = limits;
        return *this;
    }
 
    LocalFrameGotoSetpoint& withMaxHorizontalSpeed(const float max_horizontal_speed_m_s_) {
        _limits.withMaxHorizontalSpeed(max_horizontal_speed_m_s_);
        return *this;
    }
 
    LocalFrameGotoSetpoint& withMaxVerticalSpeed(const float max_vertical_speed_m_s_) {
        _limits.withMaxVerticalSpeed(max_vertical_speed_m_s_);
        return *this;
    }
 
    LocalFrameGotoSetpoint& withMaxHeadingRate(const float max_heading_rate_rad_s_) {
        _limits.withMaxHeadingRate(max_heading_rate_rad_s_);
        return *this;
    }
};
 
}  // namespace multicopter
}  // namespace auterion