flight_mode_manager: merge with flight_tasks

src/modules/flight_mode_manager/tasks/Utility/StraightLine.hpp

@@ -0,0 +1,81 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018-2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @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 */
+};