37 lines
890 B
C++
37 lines
890 B
C++
#ifndef STATEDATA_H
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#define STATEDATA_H
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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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/// TODO: Put these behind an interface
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// private:
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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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Quaternion orientation{0.0, 0.0, 0.0, 0.0}; /// (scalar, vector)
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Quaternion orientationRate{0.0, 0.0, 0.0, 0.0}; /// (scalar, vector)
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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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Vector3 eulerAngles{0.0, 0.0, 0.0};
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// This is an array because the integrator expects it
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double data[6];
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};
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#endif // STATEDATA_H
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