rate_control.hpp

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#pragma once
#include <eigen3/Eigen/Eigen>
 
namespace auterion {
class RateSetpoint {
   private:
    Eigen::Vector3f _rate_flu_rad;
    Eigen::Vector3f _thrust_flu_normalized;
 
   public:
    class Config {};
 
    RateSetpoint() = default;
    ~RateSetpoint() = default;
 
    RateSetpoint(const Eigen::Vector3f& rate_flu_rad, const Eigen::Vector3f& thrust_flu_normalized)
        : _rate_flu_rad(rate_flu_rad), _thrust_flu_normalized(thrust_flu_normalized) {}
 
    RateSetpoint(const Eigen::Vector3f& rate_flu_rad, const float thrust_up_normalized)
        : RateSetpoint(rate_flu_rad, Eigen::Vector3f(0, 0, thrust_up_normalized)) {}
 
    inline Eigen::Vector3f getRate() const { return _rate_flu_rad; }
 
    inline Eigen::Vector3f getThrust() const { return _thrust_flu_normalized; }
 
    RateSetpoint& withAttitude(const Eigen::Vector3f& rate_flu_rad) {
        _rate_flu_rad = rate_flu_rad;
        return *this;
    }
 
    RateSetpoint& withThrust(const Eigen::Vector3f& thrust_flu_normalized) {
        _thrust_flu_normalized = thrust_flu_normalized;
        return *this;
    }
 
    RateSetpoint& withThrustUp(const float thrust_up_normalized) {
        _thrust_flu_normalized = Eigen::Vector3f(0, 0, thrust_up_normalized);
        return *this;
    }
};
 
}  // namespace auterion