state_vector.hpp

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#ifndef SNAV_FCI_STATE_VECTOR_HPP_
#define SNAV_FCI_STATE_VECTOR_HPP_

#include <Eigen/Dense>

#include "snav/state_vector.hpp"

#include "api/displacement_derivs.hpp"

namespace snav_fci
{

class StateVector : public DisplacementDerivs
{
public:

  StateVector()
  {
    yaw = 0.;
    yaw_rate = 0.;
    yaw_acceleration = 0.;
  }

  StateVector(Eigen::Vector3f position) : StateVector()
  {
    this->position = position;
  }

  StateVector(Eigen::Vector3f position, float yaw) : StateVector(position)
  {
    this->yaw = yaw;
  }

  StateVector& operator= (const snav_traj_gen::StateVector& sv)
  {
    this->position[0] = sv.position[0];
    this->position[1] = sv.position[1];
    this->position[2] = sv.position[2];
    this->velocity[0] = sv.velocity[0];
    this->velocity[1] = sv.velocity[1];
    this->velocity[2] = sv.velocity[2];
    this->acceleration[0] = sv.acceleration[0];
    this->acceleration[1] = sv.acceleration[1];
    this->acceleration[2] = sv.acceleration[2];
    this->jerk[0] = sv.jerk[0];
    this->jerk[1] = sv.jerk[1];
    this->jerk[2] = sv.jerk[2];
    return *this;
  }

  float yaw;              
  float yaw_rate;         
  float yaw_acceleration; 
};

} // namespace snav_fci

#endif // SNAV_FCI_STATE_VECTOR_HPP_