106 lines
2.1 KiB
C++
106 lines
2.1 KiB
C++
#pragma once
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#include <SimCore/Orientation.hpp>
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#include <SimCore/Position.hpp>
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#include <condition_variable>
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#include <cstdint>
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#include <Eigen/Core>
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#include <loguru.hpp>
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namespace Entities
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{
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class Movement
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{
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public:
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Movement();
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Movement(SimCore::Position pos);
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Movement(SimCore::Position pos, double course);
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Movement(SimCore::Position pos, double course, double speed);
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Movement(SimCore::Position pos, double course, double speed, double pitch);
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// ~Movement();
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void updatePosition(double dt);
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/**
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* @brief returns the current Course representing the direction the front of the entity is pointing
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*
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*/
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double getCourse();
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void setCourse(double course);
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/**
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* @brief returns the speed in m/s
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*
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*/
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double getSpeed();
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void setSpeed(double speed);
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/**
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* returns the climbing angle of the entity of the entity
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*
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*/
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double getPitch();
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void setPitch(double pitch);
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/**
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* @brief returns the kinematicVector of Entity
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*
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*/
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Eigen::Vector3d getKinematicVector();
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SimCore::Position getPosition();
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void setPosition(double lat, double lon, double height = 0);
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void setPosition(SimCore::Position pos);
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SimCore::Orientation getownOrientation();
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Eigen::Vector3d getEulerAngles();
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private:
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SimCore::Position ownPosition_;
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SimCore::Orientation ownOrientation_;
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Eigen::Vector3d kinematicVec_;
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Eigen::Vector3d accelerationVec_;
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double course_;
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double speed_;
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double pitch_;
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void calKinematicVector();
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Eigen::Matrix3d getRotationMatrix(double lat, double lon);
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mutable std::mutex mx;
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std::condition_variable c;
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};
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} |