EncircleTrajectory.h

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#ifndef ENCIRCLE_TRAJECTORY_H
#define ENCIRCLE_TRAJECTORY_H
 
#include <mav_trajectory_generation/motion_defines.h>
#include <mav_trajectory_generation/trajectory.h>
#include <trajectory/TrajectoryBase.h>
 
#include <optional>
#include <string>
#include <vector>
 
class EncircleTrajectory : public TrajectoryBase {
public:
    EncircleTrajectory(const State& origin, double radius, double turn_angle, double tangent_offset,
                       double spiral_proportion, std::shared_ptr<Trajectory6DOFLimits> vehicle_limits,
                       const std::string& world_frame_id = "world_ned");
 
    bool is_valid() const;
 
    bool is_finished(double t) const override;
 
    double get_progress(double t) const override;
 
    double get_expected_total_time() const override;
 
protected:
    State get_model_world(double t) const override;
 
private:
    State origin_;
    double radius_            = 0.0;
    double turn_angle_        = 0.0;
    double tangent_offset_    = 0.0;
    double spiral_proportion_ = 1.0;
    mav_trajectory_generation::Trajectory trajectory_;
    bool valid_ = false;
 
    static constexpr double MIN_SEGMENT_TIME    = 0.01;
    static constexpr int DERIVATIVE_TO_OPTIMIZE = mav_trajectory_generation::derivative_order::ACCELERATION;
 
    static constexpr double ALPHA = 0.5;
 
    double calculate_progress(double t) const;
 
    std::optional<mav_trajectory_generation::Trajectory> plan_trajectory();
};
 
#endif  // ENCIRCLE_TRAJECTORY_H