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() { return end_reached; }

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 */
};