bizhang_-obav/src/lib/FlightTasks/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 <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);

	/**
	 * Set all parameters to their default value depending on the direction of the line
	 */
	void setAllDefaults();

	/**
	 * Get the maximum possible acceleration depending on the direction of the line
	 * Respects horizontal and vertical limits
	 */
	float getMaxAcc();

	/**
	 * Get the maximum possible velocity depending on the direction of the line
	 * Respects horizontal and vertical limits
	 */
	float getMaxVel();

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

private:
	const float &_deltatime;                 /**< delta time between last update (dependency injection) */
	const matrix::Vector3f &_pos;            /**< vehicle position (dependency injection) */

	float _desired_acceleration{0.0f};       /**< acceleration along the straight line */
	float _desired_deceleration{0.0f};       /**< deceleration along the straight line */
	float _desired_speed{0.0f};              /**< desired maximum velocity */
	float _desired_speed_at_target{0.0f};    /**< desired velocity at target point */

	matrix::Vector3f _target{};              /**< End point of the straight line */
	matrix::Vector3f _origin{};              /**< Start point of the straight line */

	// parameters for default values
	DEFINE_PARAMETERS(
		(ParamFloat<px4::params::MPC_ACC_HOR_MAX>)  MPC_ACC_HOR_MAX,   /**< maximum horizontal acceleration */
		(ParamFloat<px4::params::MPC_ACC_UP_MAX>)   MPC_ACC_UP_MAX,    /**< maximum vertical acceleration upwards */
		(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) MPC_ACC_DOWN_MAX,  /**< maximum vertical acceleration downwards*/
		(ParamFloat<px4::params::MPC_XY_VEL_MAX>)   MPC_XY_VEL_MAX,    /**< maximum horizontal velocity */
		(ParamFloat<px4::params::MPC_Z_VEL_MAX_UP>) MPC_Z_VEL_MAX_UP,  /**< maximum vertical velocity upwards */
		(ParamFloat<px4::params::MPC_Z_VEL_MAX_DN>) MPC_Z_VEL_MAX_DN,  /**< maximum vertical velocity downwards */
		(ParamFloat<px4::params::NAV_ACC_RAD>) NAV_ACC_RAD             /**< acceptance radius if a waypoint is reached */
	)

};