AttitudeTrajectoryRelated.hpp

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#pragma once
 
#include "AstGlobal.h"
#include "AttitudeProfile.hpp"
#include "AstCore/Frame.hpp"
#include "AstCore/Point.hpp"
 
AST_NAMESPACE_BEGIN
 
class AST_CORE_API AttitudeTrajectoryRelated : public AttitudeProfile
{
public:
    AST_OBJECT(AttitudeTrajectoryRelated)
 
    AttitudeTrajectoryRelated() = default;
    AttitudeTrajectoryRelated(Point* point, Frame* frame);
    ~AttitudeTrajectoryRelated() override = default;
public:
    Axes* getParent() const override;
public:
    void setPoint(Point* point) { point_ = point; }
    void setFrame(Frame* frame) { frame_ = frame; }
    Point* point() const { return point_.get(); }
    Frame* frame() const { return frame_.get(); }
protected:
    errc_t getPosVelAccLocal(const TimePoint& tp, Vector3d& pos, Vector3d& vel, Vector3d& acc) const;
    errc_t getPosVelLocal(const TimePoint& tp, Vector3d& pos, Vector3d& vel) const;
    errc_t getPosLocal(const TimePoint& tp, Vector3d& pos) const;
private:
    WeakPtr<Point> point_{};    
    WeakPtr<Frame> frame_{};    
};
 
 
 
AST_NAMESPACE_END