d:/PlatformIO/RoboidControl/Quadcopter.h

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#pragma once
 
#include "LinearAlgebra/Vector3.h"
#include "Propulsion.h"
#include "Thing.h"
 
namespace Passer {
namespace RoboidControl {
 
class Quadcopter : public Propulsion {
public:
  Quadcopter();
 
  virtual void SetTwistSpeed(float forward, float yaw = 0.0F) override;
  virtual void SetTwistSpeed(Vector2 linear, float yaw = 0.0F) override;
  virtual void SetTwistSpeed(Vector3 linear, float yaw = 0.0F,
                             float pitch = 0.0F, float roll = 0.0F) override;
 
  Vector3 GetTargetVelocity();
  float GetYawSpeed();
  float GetPitchSpeed();
  float GetRollSpeed();
 
protected:
  Vector3 velocity = Vector3::zero;
  float pitchSpeed = 0.0F;
  float yawSpeed = 0.0F;
  float rollSpeed = 0.0F;
};
 
} // namespace RoboidControl
} // namespace Passer
using namespace Passer::RoboidControl;