AttitudeAlignConstrain.hpp

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#pragma once
 
#include "AstGlobal.h"
#include "AstCore/AttitudeProfile.hpp"
#include "AstCore/Vector.hpp"
#include "AstMath/Rotation.hpp"
 
AST_NAMESPACE_BEGIN
 
class AST_CORE_API AttitudeAlignConstrain : public AttitudeProfile
{
public:
    AST_OBJECT(AttitudeAlignConstrain)
 
    AttitudeAlignConstrain() = default;
    ~AttitudeAlignConstrain() override = default;
public:
    Axes* getParent() const override;
    errc_t getTransform(const TimePoint& tp, Rotation& rotation) const override;
    errc_t getTransform(const TimePoint& tp, KinematicRotation& rotation) const override;
public:
    const Vector3d& alignedAxis() const{return alignedAxis_;}
    void setAlignedAxis(const Vector3d& axis){alignedAxis_ = axis;}
 
    const Vector3d& constrainedAxis() const{return constrainedAxis_;}
    void setConstrainedAxis(const Vector3d& axis){constrainedAxis_ = axis;}
    
    Vector* alignedVector() const{return alignedVector_.get();}
    void setAlignedVector(Vector* vector){alignedVector_ = vector;}
    
    Vector* constrainedVector() const{return constrainedVector_.get();}
    void setConstrainedVector(Vector* vector){constrainedVector_ = vector;}
private:
    Vector3d alignedAxis_{};
    Vector3d constrainedAxis_{};
    WeakPtr<Vector> alignedVector_{};
    WeakPtr<Vector> constrainedVector_{};
};
 
AST_NAMESPACE_END