gimbal.h

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#pragma once
 
#include <flyby/payload/component/component.h>
#include <flyby/util/error.h>
 
namespace flyby {
    enum GimbalMode {
        LOCK = 0,
        FOLLOW,
    };

    class GimbalInterface : public Component {
    public:
        virtual void set_roll_pitch_yaw_angle(double roll, double pitch, double yaw) = 0;
 
        virtual void set_roll_pitch_yaw_speed(double roll, double pitch, double yaw) = 0;
 
        virtual void reset_position() = 0;
 
        virtual void reset_pitch_position() = 0;
 
        virtual void reset_roll_position() = 0;
 
        virtual void reset_yaw_position() = 0;
 
        virtual GimbalMode get_gimbal_mode() = 0;
 
        virtual void set_gimbal_mode(GimbalMode mode) = 0;
 
        [[nodiscard]] virtual double get_roll() const = 0;
 
        [[nodiscard]] virtual double get_pitch() const = 0;
 
        [[nodiscard]] virtual double get_yaw() const = 0;
    };
    class Gimbal : public GimbalInterface {
    public:
        Gimbal() = default;
 
        ~Gimbal() override = default;

        GimbalMode get_gimbal_mode() override {
            throw not_implemented_error();
        }

        void set_gimbal_mode(GimbalMode mode) override {
            throw not_implemented_error();
        }

        void set_roll_pitch_yaw_angle(double roll, double pitch, double yaw) override {
            throw not_implemented_error();
        }

        void set_roll_pitch_yaw_speed(double roll, double pitch, double yaw) override {
            throw not_implemented_error();
        }

        void reset_position() override {
            set_roll_pitch_yaw_angle(0, 0, 0);
        }

        void reset_pitch_position() override {
            auto roll = get_roll();
            auto yaw = get_yaw();
            set_roll_pitch_yaw_angle(roll, 0, yaw);
        }

        void reset_roll_position() override {
            auto pitch = get_pitch();
            auto yaw = get_yaw();
            set_roll_pitch_yaw_angle(0, pitch, yaw);
        }

        void reset_yaw_position() override {
            auto roll = get_roll();
            auto pitch = get_pitch();
            set_roll_pitch_yaw_angle(roll, pitch, 0);
        }

        [[nodiscard]] double get_roll() const override {
            throw not_implemented_error();
        }

        [[nodiscard]] double get_pitch() const override {
            throw not_implemented_error();
        }

        [[nodiscard]] double get_yaw() const override {
            throw not_implemented_error();
        }
    };
}  // namespace flyby