StraightLine.hpp
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/****************************************************************************
*
* 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 */
};