YawCtrlDefines.hpp

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

#ifndef YAWCTRLELEMENT_HPP_
#define YAWCTRLELEMENT_HPP_

#include <telekyb_defines/telekyb_defines.hpp>
#include <telekyb_defines/telekyb_enums.hpp>

#include <telekyb_base/Spaces.hpp>

namespace TELEKYB_NAMESPACE {


struct YawCtrlInput {
        // Type
        YawControlType crtlType;

        // Current State
        double curYawAngle;
        double curYawRate;

        // desiered State
        double desYawAngle;
        double desYawRate;
        double desYawAcceleration;
};

struct YawCtrlOutput {
        double comYaw;
};


}

#endif /* YAWCTRLELEMENT_HPP_ */