planner_config.hpp

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#ifndef SNAV_FCI_PLANNER_CONFIG_HPP_
#define SNAV_FCI_PLANNER_CONFIG_HPP_

namespace snav_fci
{

class PlannerConfig
{
public:

  enum class TrajType
  {
    SHORTEST_PATH = 0,  
    MIN_ACC,  
    MIN_JERK, 
    MIN_SNAP,   
  };

  enum class TimestampStrategy
  {
    USE_PROVIDED = 0, 
    AVERAGE_SPEED, 
  };

  PlannerConfig()
  {
    traj_type = TrajType::SHORTEST_PATH;
    timing = TimestampStrategy::AVERAGE_SPEED;
    average_speed_xy = 0.5;
    average_speed_z = 0.3;
    max_allowed_vel_xy = 3.0; // these are sane values based on the Qualcomm
                              // Navigator default params for the Dragon DDK
    max_allowed_vel_z = 1.0;
    max_allowed_acc_xy = 6.0; // theoretical max approx. equals:
                              //   gravity * tan(max_tilt_angle)
                              // in idealized and simplified scenario
    max_allowed_acc_z = 6.0; // theoretical max approx. equals:
                             //   ((thrust / weight) - 1) * gravity
                             // in idealized and simplified scenario
    max_allowed_jerk_xy = 50; // setting somewhat arbitrarily high
    max_allowed_jerk_z = 50; // setting somewhat arbitrarily high
    loop = false; // Warning: this must be false until bug in snav_traj_gen
                  // is fixed
  }

  PlannerConfig(TrajType traj_type) : PlannerConfig()
  {
    this->traj_type = traj_type;
  }

  TrajType traj_type;

  TimestampStrategy timing; 
  float average_speed_xy; 
  float average_speed_z; 
  float max_allowed_vel_xy; 
  float max_allowed_vel_z; 
  float max_allowed_acc_xy; 
  float max_allowed_acc_z; 
  float max_allowed_jerk_xy; 
  float max_allowed_jerk_z; 
  bool loop; 
};

} // namespace snav_api

#endif // SNAV_FCI_PLANNER_CONFIG_HPP_