/home/travis/build/lis-epfl/MAVRIC_Library/control/control_command.hpp

/*******************************************************************************
 * Copyright (c) 2009-2016, MAV'RIC Development Team
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
 * specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 ******************************************************************************/

/*******************************************************************************
 * \file control_command.hpp
 *
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *
 * \brief Data structures to hold torque, thrust, rate, attitude and
 * velocity commands
 *
 ******************************************************************************/

#ifndef CONTROL_COMMAND_HPP_
#define CONTROL_COMMAND_HPP_


#include "util/coord_conventions.hpp"

extern "C"
{
#include "util/quaternions.h"
}

typedef enum
{
    COMMAND_MODE_THRUST_AND_TORQUE   = 0,
    COMMAND_MODE_THRUST_AND_RATE     = 1,
    COMMAND_MODE_THRUST_AND_ATTITUDE = 2,
    COMMAND_MODE_VELOCITY            = 3,
    COMMAND_MODE_POSITION            = 4
} control_command_mode_t;


typedef struct
{
    local_velocity_t xyz;           
    float heading;                  
} velocity_command_t;


typedef struct
{
    local_position_t xyz;       
    float heading;              
} position_command_t;


typedef quat_t attitude_command_t;


// class rate_command_t: public std::array<float,3>{};
// typedef std::array<float,3> rate_command_t;
typedef struct
{
    std::array<float,3> xyz;
} rate_command_t;

// class torque_command_t: public std::array<float,3>{};
// typedef std::array<float,3> torque_command_t;
typedef struct
{
    std::array<float,3> xyz;
} torque_command_t;


typedef struct
{
    std::array<float,3> xyz;
} thrust_command_t;


typedef struct {} empty_command_t;


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

#endif // CONTROL_COMMAND_HPP_