PositionControl.hpp

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/*
 * PositionControl.hpp
 *
 *  Created on: Oct 27, 2011
 *      Author: mriedel
 */

#ifndef POSITIONCONTROL_HPP_
#define POSITIONCONTROL_HPP_

#include <telekyb_defines/telekyb_defines.hpp>
#include <telekyb_base/Options.hpp>
#include <telekyb_base/Time.hpp>

#include <tk_ctrlalgo/PosCtrlDefines.hpp>
#include <telekyb_base/Messages.hpp>

namespace TELEKYB_NAMESPACE {

class PositionControlOptions : public OptionContainer {
public:
        Option<double>* tPropGain;
        Option<double>* tDerivGain;
        Option<double>* tIntegGain;

        Option<double>* tDerGainVelMode;

        Option<double>* tZPropGain;
        Option<double>* tZDerivGain;

        Option<double>* tSatIntTerm;

        Option<double>* tMinThrust;

        Option<double>* tMaxRollSin;
        Option<double>* tMaxPitchSin;

        //Option<double>* tMaxVelInVelMode;

        Option<double>* tGravity;

        PositionControlOptions();
};

class PositionControl {
private:
        PositionControlOptions options;

        //double mass;
        double xIntErr, yIntErr;

        //double gravity;

        Timer integTimer;

public:
        // gravity is provided by
        PositionControl();
        virtual ~PositionControl();

        void run(const TKTrajectory& input, const TKState& currentState, const double mass, PosCtrlOutput& output);
        //void setMass(double mass_);
};

}

#endif /* POSITIONCONTROL_HPP_ */