Program Listing for File speed_motion.hpp

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// Copyright 2023 Universidad Politécnica de Madrid
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/*!*******************************************************************************************
 *  \file       speed_motion.hpp
 *  \brief      This file contains the definition of the SpeedMotion class.
 *  \authors    Miguel Fernández Cortizas
 *              Pedro Arias Pérez
 *              David Pérez Saura
 *              Rafael Pérez Seguí
 ********************************************************************************/

#ifndef AS2_MOTION_REFERENCE_HANDLERS__SPEED_MOTION_HPP_
#define AS2_MOTION_REFERENCE_HANDLERS__SPEED_MOTION_HPP_

#include <string>

#include <as2_core/utils/tf_utils.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>

#include "as2_core/node.hpp"
#include "as2_motion_reference_handlers/basic_motion_references.hpp"

namespace as2
{
namespace motionReferenceHandlers
{

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

public:
  bool ownSendCommand();

  bool sendSpeedCommandWithYawAngle(
    const std::string & frame_id_speed,
    const float & vx,
    const float & vy,
    const float & vz,
    const std::string & frame_id_yaw,
    const float & yaw_angle);
  bool sendSpeedCommandWithYawAngle(
    const std::string & frame_id_speed,
    const float & vx,
    const float & vy,
    const float & vz,
    const std::string & frame_id_yaw,
    const geometry_msgs::msg::Quaternion & q);
  bool sendSpeedCommandWithYawAngle(
    const geometry_msgs::msg::PoseStamped & pose,
    const geometry_msgs::msg::TwistStamped & twist);

  bool sendSpeedCommandWithYawSpeed(
    const std::string & frame_id,
    const float & vx,
    const float & vy,
    const float & vz,
    const float & yaw_speed);

  bool sendSpeedCommandWithYawSpeed(const geometry_msgs::msg::TwistStamped & twist);
};

}    // namespace motionReferenceHandlers
}  // namespace as2

#endif  // AS2_MOTION_REFERENCE_HANDLERS__SPEED_MOTION_HPP_