StraightLine.hpp

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#pragma once

#include <px4_module_params.h>
#include <matrix/matrix/math.hpp>

class StraightLine : public ModuleParams
{
public:
    StraightLine(ModuleParams *parent, const float &deltatime, const matrix::Vector3f &pos);
    ~StraightLine() = default;

    // setter functions
    void setLineFromTo(const matrix::Vector3f &origin, const matrix::Vector3f &target);
    void setSpeed(const float &speed);
    void setSpeedAtTarget(const float &speed_at_target);
    void setAcceleration(const float &acc);
    void setDeceleration(const float &dec);

    void setAllDefaults();

    float getMaxAcc();

    float getMaxVel();

    void generateSetpoints(matrix::Vector3f &position_setpoint, matrix::Vector3f &velocity_setpoint);

private:
    const float &_deltatime;                 
    const matrix::Vector3f &_pos;            
    float _desired_acceleration{0.0f};       
    float _desired_deceleration{0.0f};       
    float _desired_speed{0.0f};              
    float _desired_speed_at_target{0.0f};    
    matrix::Vector3f _target{};              
    matrix::Vector3f _origin{};              
    // parameters for default values
    DEFINE_PARAMETERS(
        (ParamFloat<px4::params::MPC_ACC_HOR_MAX>)  _param_mpc_acc_hor_max,   
        (ParamFloat<px4::params::MPC_ACC_UP_MAX>)   _param_mpc_acc_up_max,    
        (ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max,  
        (ParamFloat<px4::params::MPC_XY_VEL_MAX>)   _param_mpc_xy_vel_max,    
        (ParamFloat<px4::params::MPC_Z_VEL_MAX_UP>) _param_mpc_z_vel_max_up,  
        (ParamFloat<px4::params::MPC_Z_VEL_MAX_DN>) _param_mpc_z_vel_max_dn,  
        (ParamFloat<px4::params::NAV_ACC_RAD>) _param_nav_acc_rad             
    )

};