twist.hpp

// Copyright (C) 2024 Avular Holding B.V. - All Rights Reserved
// You may use this code under the terms of the Avular
// Software End-User License Agreement.
//
// You should have received a copy of the Avular
// Software End-User License Agreement license with
// this file, or download it from: avular.com/eula
//
/*****************************************************************************
 * Created on: 2024 July 17
 * Author: Robbert-Jan de Jager
 *
 * @file The twist contains a linear and angular velocity.
 ****************************************************************************/
#pragma once
 
#include <array>
#include <creos/messages/generic.hpp>
#include <creos/robot_clock.hpp>
#include <nlohmann/json.hpp>
 
namespace creos_messages {
 
struct Twist {
    Vector3d linear = {0, 0, 0};
 
    Vector3d angular = {0, 0, 0};
 
    auto operator<=>(const Twist& other) const = default;
};
 
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(Twist, linear, angular)
 
 
struct TwistWithCovariance : public Twist {
    Matrixd<6, 6> covariance;
 
    auto operator<=>(const TwistWithCovariance& other) const = default;
};
 
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(TwistWithCovariance, linear, angular, covariance)
 
 
struct TwistStamped : public Twist {
    creos::RobotClock::time_point timestamp;
 
    std::string frame_id;
 
    auto operator<=>(const TwistStamped& other) const = default;
};
 
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(TwistStamped, linear, angular, timestamp, frame_id)
 
 
struct TwistWithCovarianceStamped : public TwistWithCovariance {
    creos::RobotClock::time_point timestamp;
 
    std::string frame_id;
 
    auto operator<=>(const TwistWithCovarianceStamped& other) const = default;
};
 
NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(TwistWithCovarianceStamped, linear, angular, covariance, timestamp)
 
}  // namespace creos_messages