MotionGreatArc.hpp

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#pragma once
 
#include "AstGlobal.h"
#include "MotionProfile.hpp"
#include "AstCore/GeodeticPoint.hpp"
#include <vector>
 
AST_NAMESPACE_BEGIN
 
class WayPoint
{
public:
    double time() const {return time_;}
public:
    double time_;             
    GeodeticPoint position_;  
    double speed_;            
    double acceleration_;     
    double turnRadius_;       
};
 
 
class MotionGreatArc;
using PMotionGreatArc = MotionGreatArc*;
using HMotionGreatArc = SharedPtr<MotionGreatArc>;
 
class AST_SIM_API MotionGreatArc : public MotionProfile
{
public:
    static PMotionGreatArc New();
    MotionGreatArc();
    ~MotionGreatArc();
public:
    errc_t makeEphemerisSpec(ScopedPtr<Ephemeris>& eph) const override;
    errc_t makeEphemerisSimple(ScopedPtr<Ephemeris>& eph) const override;
    void accept(MotionProfileVisitor& visitor) override;
public:
    using WayPointVector = std::vector<WayPoint>;
    void setStartTime(const TimePoint& tp);
    errc_t getStartTime(TimePoint& tp) const;
    errc_t getStopTime(TimePoint& tp) const;
    errc_t getInterval(TimeInterval& interval) const;
    const WayPointVector& getWayPoints() const{return wayPoints_;}
    void setWayPoints(const WayPointVector& wayPoints){wayPoints_ = wayPoints;}
private:
    SharedPtr<EventTime> startTime_;        
    WayPointVector wayPoints_;              
};
 
AST_NAMESPACE_END