AttitudeSpinning.hpp

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#pragma once
 
#include "AstGlobal.h"
#include "AttitudeProfile.hpp"
#include "AstCore/TimePoint.hpp"
#include "AstMath/Vector.hpp"
 
AST_NAMESPACE_BEGIN
 
class AST_CORE_API AttitudeSpinning : public AttitudeProfile
{
public:
    AST_OBJECT(AttitudeSpinning)
 
    AttitudeSpinning() = default;
    ~AttitudeSpinning() override = default;
 
    Axes* getParent() const override;
    errc_t getTransform(const TimePoint& tp, Rotation& rotation) const override;
    errc_t getTransform(const TimePoint& tp, KinematicRotation& rotation) const override;
    errc_t getTransform(const TimePoint& tp, AccelerationRotation& rotation) const override;
 
PROPERTIES:
    Axes* getReferenceAxes() const { return referenceAxes_.get(); }
    void setReferenceAxes(Axes* axes) { referenceAxes_ = axes; }
 
    const Vector3d& getSpinAxisInFrame() const { return spinAxisInFrame_; }
    void setSpinAxisInFrame(const Vector3d& axis) { spinAxisInFrame_ = axis; }
 
    const Vector3d& getSpinAxisInBody() const { return spinAxisInBody_; }
    void setSpinAxisInBody(const Vector3d& axis) { spinAxisInBody_ = axis; }
 
    double getSpinRate() const { return spinRate_; }
    void setSpinRate(double rate) { spinRate_ = rate; }
 
    double getSpinOffset() const { return spinOffset_; }
    void setSpinOffset(double offset) { spinOffset_ = offset; }
 
    const TimePoint& getEpoch() const { return epoch_; }
    void setEpoch(const TimePoint& epoch) { epoch_ = epoch; }
 
protected:
    double spinAngle(const TimePoint& tp) const;
protected:
    WeakPtr<Axes> referenceAxes_{};                  
    Vector3d  spinAxisInFrame_{Vector3d::UnitZ()};   
    Vector3d  spinAxisInBody_{Vector3d::UnitZ()};    
    double    spinRate_{0.0};                        
    double    spinOffset_{0.0};                      
    TimePoint epoch_{};                              
};
 
AST_NAMESPACE_END