Travis Hunter
e6bf1fea9b
This reverts commit 6280d9fb0184275843a8f4406c7293e41e65a639, reversing changes made to 3c9c8b8c6a2b2e7430ff09efdc2cc0c1996b16ca.
96 lines
2.2 KiB
C++
96 lines
2.2 KiB
C++
#ifndef STATEDATA_H
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#define STATEDATA_H
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/// \cond
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// C headers
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// C++ headers
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#include <vector>
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// 3rd party headers
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/// \endcond
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// qtrocket headers
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#include "utils/math/MathTypes.h"
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/**
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* @brief The StateData class holds physical state data. Things such as position, velocity,
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* and acceleration of the center of mass, as well as orientation and orientation
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* change rates.
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*/
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class StateData
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{
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public:
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StateData() {}
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~StateData() {}
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StateData(const StateData&) = default;
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StateData(StateData&&) = default;
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StateData& operator=(const StateData& rhs)
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{
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if(this != &rhs)
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{
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position = rhs.position;
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velocity = rhs.velocity;
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orientation = rhs.orientation;
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orientationRate = rhs.orientationRate;
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dcm = rhs.dcm;
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eulerAngles = rhs.eulerAngles;
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}
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return *this;
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}
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StateData& operator=(StateData&& rhs)
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{
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if(this != &rhs)
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{
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position = std::move(rhs.position);
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velocity = std::move(rhs.velocity);
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orientation = std::move(rhs.orientation);
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orientationRate = std::move(rhs.orientationRate);
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dcm = std::move(rhs.dcm);
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eulerAngles = std::move(rhs.eulerAngles);
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}
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return *this;
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}
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std::vector<double> getPosStdVector() const
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{
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return std::vector<double>{position[0], position[1], position[2]};
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}
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std::vector<double> getVelStdVector() const
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{
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return std::vector<double>{velocity[0], velocity[1], velocity[2]};
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}
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/// TODO: Put these behind an interface
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//Vector3 getPosition() const
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//{
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// return position;
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//}
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//Vector3 getVelocity() const
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//{
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// return velocity;
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//}
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// private:
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// Intended to be used as world state data
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Vector3 position{0.0, 0.0, 0.0};
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Vector3 velocity{0.0, 0.0, 0.0};
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// Orientation of body coordinates w.r.t. world coordinates
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Quaternion orientation{0.0, 0.0, 0.0, 0.0}; /// (vector, scalar)
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Quaternion orientationRate{0.0, 0.0, 0.0, 0.0}; /// (vector, scalar)
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Matrix3 dcm{{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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/// Euler angles are yaw-pitch-roll, and (3-2-1) order
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/// yaw - psi
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/// pitch - theta
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/// roll - phi
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Vector3 eulerAngles{0.0, 0.0, 0.0};
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};
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#endif // STATEDATA_H
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