control_command.h

/*******************************************************************************
 * Copyright (c) 2009-2014, MAV'RIC Development Team
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/*******************************************************************************
 * \file control_command.h
 * 
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *   
 * \brief Data structures to hold torque, thrust, rate, attitude and 
 * velocity commands
 *
 ******************************************************************************/


#include "quaternions.h"

#ifndef CONTROL_COMMAND_H_
#define CONTROL_COMMAND_H_

#ifdef __cplusplus
    extern "C" {
#endif


typedef enum
{
    TORQUE_COMMAND   = 0,
    RATE_COMMAND     = 1,
    ATTITUDE_COMMAND = 2,
    POSITION_COMMAND = 3,
    VELOCITY_COMMAND = 4
} control_command_mode_t;


typedef enum
{
    VELOCITY_COMMAND_MODE_LOCAL         = 0,    
    VELOCITY_COMMAND_MODE_SEMI_LOCAL    = 1,    
    VELOCITY_COMMAND_MODE_GLOBAL        = 2,    
} velocity_command_mode_t;


typedef struct 
{   
    float xyz[3];                   
    velocity_command_mode_t mode;   
} velocity_command_t;



typedef enum
{
    POSITION_COMMAND_MODE_LOCAL  = 0,
    POSITION_COMMAND_MODE_GLOBAL = 1
} position_command_mode_t;


typedef struct 
{   
    float xyz[3];                   
    position_command_mode_t mode;   
} position_command_t;


typedef enum
{
    ATTITUDE_COMMAND_MODE_QUATERNION    = 0,
    ATTITUDE_COMMAND_MODE_RPY           = 1
} attitude_command_mode_t;


typedef struct 
{   
    quat_t quat;                    
    float rpy[3];                   
    attitude_command_mode_t mode;   
} attitude_command_t;


typedef struct 
{   
    float xyz[3];                   
} rate_command_t;


typedef struct 
{   
    float xyz[3];                   
} torque_command_t;


typedef struct 
{
    float thrust;                   
} thrust_command_t;


typedef struct 
{
    float thrust[3];
} thrust3D_command_t;


typedef struct
{
    control_command_mode_t  mode;       
    thrust_command_t        thrust;     
    torque_command_t        torque;     
    rate_command_t          rate;       
    attitude_command_t      attitude;   
    position_command_t      position;   
    velocity_command_t      velocity;   
} command_t;


#ifdef __cplusplus
    }
#endif

#endif