AirBrakesInterp.h

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/* Copyright (c) 2021-2022 Skyward Experimental Rocketry
 * Authors: Vincenzo Santomarco, Alberto Nidasio, Emilio Corigliano
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
 
#pragma once
 
#include <algorithms/Algorithm.h>
 
#include <functional>
#include <vector>
 
#include "AirBrakesInterpConfig.h"
#include "TrajectorySet.h"
 
namespace Boardcore
{
 
class AirBrakesInterp : public Algorithm
{
public:
    AirBrakesInterp(std::function<TimedTrajectoryPoint()> getCurrentPosition,
                    const TrajectorySet& trajectoryOpenSet,
                    const TrajectorySet& trajectoryCloseSet,
                    const AirBrakesInterpConfig& configInterp,
                    std::function<void(float)> setActuator);
 
    bool init() override;
 
    void begin(float currentMass);
 
private:
    void step() override;
 
    float controlInterp(TrajectoryPoint currentPosition);
 
    std::function<TimedTrajectoryPoint()> getCurrentPosition;
    std::function<void(float)> setActuator;
 
    TimedTrajectoryPoint lastPosition;
 
    // Trajectory sets (open and closed) from which the algorithm will choose at
    // the beginning the tuple with which interpolate the data. The selection
    // depends on the rocket mass.
    const TrajectorySet& trajectoryOpenSet;
    const TrajectorySet& trajectoryCloseSet;
 
    // Choosen trajectories from the begin function
    Trajectory* choosenCloseTrajectory = nullptr;
    Trajectory* choosenOpenTrajectory  = nullptr;
 
    AirBrakesInterpConfig configInterp;  
    float lastPercentage = 0;            
};
 
}  // namespace Boardcore