Program Listing for File acro_motion.hpp

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/*!*******************************************************************************************
 *  \file       acro_motion.hpp
 *  \brief      This file contains the definition of the ACROMotion class.
 *  \authors    Rafael Pérez Seguí
 ********************************************************************************/

#ifndef AS2_MOTION_REFERENCE_HANDLERS__ACRO_MOTION_HPP_
#define AS2_MOTION_REFERENCE_HANDLERS__ACRO_MOTION_HPP_

#include <string>

#include <geometry_msgs/msg/twist_stamped.hpp>
#include <geometry_msgs/msg/vector3.hpp>

#include "as2_motion_reference_handlers/basic_motion_references.hpp"

namespace as2
{
namespace motionReferenceHandlers
{

class ACROMotion : public as2::motionReferenceHandlers::BasicMotionReferenceHandler
{
public:
  explicit ACROMotion(as2::Node * node_ptr, const std::string & ns = "");

  ~ACROMotion() {}

  bool sendACRO(
    const as2_msgs::msg::Thrust & thrust,
    const geometry_msgs::msg::Vector3 & angular_rates);
};

}    // namespace motionReferenceHandlers
}  // namespace as2

#endif  // AS2_MOTION_REFERENCE_HANDLERS__ACRO_MOTION_HPP_