transition_control.hpp

#pragma once
 
#include <eigen3/Eigen/Eigen>
#include <functional>
#include <memory>
#include <variant>
 
#include "../../auterion.hpp"
#include "vtol.hpp"
 
namespace auterion {
namespace vtol {
 
class TransitionSetpoint {
   private:
    float _course_setpoint = NAN;
    std::optional<float> _back_transition_deceleration{};
 
   public:
    class Config {};
 
    TransitionSetpoint() = default;
 
    TransitionSetpoint& withCourse(float course_sp) {
        _course_setpoint = course_sp;
        return *this;
    }
 
    TransitionSetpoint& withBackTransitionDeceleration(float deceleration_sp) {
        _back_transition_deceleration = deceleration_sp;
        return *this;
    }
 
    inline float getCourseSetpoint() const { return _course_setpoint; }
    inline std::optional<float> getBackTransitionDecelerationSetpoint() const {
        return _back_transition_deceleration;
    }
};
}  // namespace vtol
}  // namespace auterion