PioneerDrone.hpp

#pragma once
#include <memory>
#include <optional>
#include <string>
 
#include "Drone.hpp"
#include "thrust_allocation/ControlForce.hpp"
#include "thrust_allocation/PioneerAllocator.hpp"
 
namespace blunux::drone {
class PioneerDrone : public Drone {
 public:
  PioneerDrone();
 
  void set_thrusters(pmu::PioneerThrustersSetpoint thrusters_set_point);
 
  virtual void set_force(thrust_allocation::ControlForce force);
 
  pmu::PioneerThrustersSetpoint get_thrusters_set_point() const;
 
 private:
  blunux::thrust_allocation::PioneerAllocator allocator;
  pmu::PioneerThrustersSetpoint thrusters_set_point{};
};
 
}  // namespace blunux::drone