bizhang_-obav/src/modules/flight_mode_manager/tasks/Utility/StraightLine.hpp

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/**
 * @file StraightLine.hpp
 *
 * lib to return setpoints on a straight line
 *
 * @author Christoph Tobler <christoph@px4.io>
 */

#pragma once

#include <matrix/matrix/math.hpp>

class StraightLine
{
public:
	StraightLine(const matrix::Vector3f &pos) : _position(pos) {};
	~StraightLine() = default;

	// setter functions
	void setLineFromTo(const matrix::Vector3f &start, const matrix::Vector3f &end);
	void setSpeed(const float &speed) { _speed = speed; };

	/**
	 * Generate setpoints on a straight line according to parameters
	 *
	 * @param position_setpoint: reference to the 3D vector with the position setpoint to update
	 * @param velocity_setpoint: reference to the 3D vector with the velocity setpoint to update
	 */
	void generateSetpoints(matrix::Vector3f &position_setpoint, matrix::Vector3f &velocity_setpoint);

	/**
	 * Check if the end was reached
	 *
	 * @return false when on the way from start to end, true when end was reached
	 */
	bool isEndReached() const { return _end_reached; }

	void reset() { _end_reached = true; }

private:
	const matrix::Vector3f &_position; /**< vehicle position (dependency injection) */

	matrix::Vector3f _start; /**< Start point of the straight line */
	matrix::Vector3f _end; /**< End point of the straight line */
	float _speed = 1.f; /**< desired speed between accelerating and decelerating */

	bool _end_reached = true; /**< Flag to lock further movement when end is reached */
};