ControlMath.hpp

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#pragma once

#include <matrix/matrix/math.hpp>
#include <uORB/topics/vehicle_attitude_setpoint.h>

namespace ControlMath
{
vehicle_attitude_setpoint_s thrustToAttitude(const matrix::Vector3f &thr_sp, const float yaw_sp);

matrix::Vector2f constrainXY(const matrix::Vector2f &v0, const matrix::Vector2f &v1, const float &max);

bool cross_sphere_line(const matrix::Vector3f &sphere_c, const float sphere_r, const matrix::Vector3f &line_a,
               const matrix::Vector3f &line_b, matrix::Vector3f &res);
}