waypoint_config.hpp

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#ifndef SNAV_FCI_WAYPOINT_CONFIG_HPP_
#define SNAV_FCI_WAYPOINT_CONFIG_HPP_

#include <cmath>

namespace snav_fci
{

class WaypointConfig
{
public:

  enum class YawType
  {
    FORWARD,  
    WAYPOINT, 
  };

  WaypointConfig()
  {
    max_linear_velocity_norm = 0.5;
    max_linear_acceleration_norm = 0.25;
    max_yaw_velocity_norm = M_PI;
    yaw_type = YawType::FORWARD;
  }

  WaypointConfig(float max_linear_velocity_norm,
      float max_linear_acceleration_norm, float max_angular_velocity_norm,
      float max_angular_acceleration_norm, YawType yaw_type)
  {
    this->max_linear_velocity_norm = fabs(max_linear_velocity_norm);
    this->max_linear_acceleration_norm = fabs(max_linear_acceleration_norm);
    this->max_yaw_velocity_norm = fabs(max_angular_velocity_norm);
    this->yaw_type = yaw_type;
  }

  float max_linear_velocity_norm;

  float max_linear_acceleration_norm;

  float max_yaw_velocity_norm;

  YawType yaw_type;
};

} // namespace snav_fci

#endif // SNAV_FCI_WAYPOINT_CONFIG_HPP_