cb_spiral_pattern.hpp

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// Copyright 2025 Robosoft Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#pragma once
 
#include <chrono>
#include <cmath>
#include <smacc2/smacc.hpp>
 
namespace cl_px4_mr
{
 
class CpTrajectorySetpoint;
class CpVehicleLocalPosition;
 
class CbSpiralPattern : public smacc2::SmaccAsyncClientBehavior, public smacc2::ISmaccUpdatable
{
public:
  CbSpiralPattern(
    float centerX, float centerY, float altitude, float maxRadius = 20.0f, float spacing = 3.0f,
    float speed = 2.0f);
 
  void onEntry() override;
  void onExit() override;
  void update() override;
 
private:
  float centerX_;
  float centerY_;
  float altitude_;
  float maxRadius_;
  float spacing_;
  float speed_;
 
  float theta_ = 0.0f;
  std::chrono::steady_clock::time_point lastUpdateTime_;
 
  CpTrajectorySetpoint * trajectorySetpoint_ = nullptr;
  CpVehicleLocalPosition * localPosition_ = nullptr;
};
 
}  // namespace cl_px4_mr