vtol.hpp

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#pragma once
 
#include <Eigen/Core>
#include <auterion_sdk/auterion.hpp>
#include <auterion_sdk/system_state/system_state.hpp>
#include <memory>
namespace auterion {
namespace _impl {
namespace vtol {
class TransitionControlImpl;
}
}  // namespace _impl
 
class SDK;
 
class VTOLImpl;
 
class VTOL {
    friend class auterion::_impl::vtol::TransitionControlImpl;
 
   public:
    explicit VTOL(SDK& sdk);
    ~VTOL() = default;
 
    void setTargetState(const auterion::VtolState target_vtol_state);
 
   private:
    std::shared_ptr<VTOLImpl> _impl;
 
    Eigen::Vector3f getAccelerationSetpointDuringTransition(
        std::optional<float> back_transition_deceleration_m_s2);
    Eigen::Vector3f getVelocitySetpointDuringTransition();
};
 
}  // namespace auterion