cartesian.hpp

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#pragma once
 
#include "../centers.hpp"
#include "../ffi_core.hpp"
#include "../frames.hpp"
 
#include <qtty/qtty.hpp>
 
namespace siderust {
namespace cartesian {
 
template <typename F>
struct Direction {
    static_assert(frames::is_frame_v<F>, "F must be a valid frame tag");
 
    double x; 
    double y; 
    double z; 
 
    Direction() : x(0), y(0), z(0) {}
    Direction(double x_, double y_, double z_) : x(x_), y(y_), z(z_) {}
 
    static constexpr siderust_frame_t frame_id() {
        return frames::FrameTraits<F>::ffi_id;
    }
};
 
template <typename C, typename F, typename U = qtty::Meter>
struct Position {
    static_assert(frames::is_frame_v<F>, "F must be a valid frame tag");
    static_assert(centers::is_center_v<C>, "C must be a valid center tag");
 
    U comp_x; 
    U comp_y; 
    U comp_z; 
 
    Position()
        : comp_x(U(0)), comp_y(U(0)), comp_z(U(0)) {}
 
    Position(U x_, U y_, U z_)
        : comp_x(x_), comp_y(y_), comp_z(z_) {}
 
    Position(double x_, double y_, double z_)
        : comp_x(U(x_)), comp_y(U(y_)), comp_z(U(z_)) {}
 
    U x() const { return comp_x; }
    U y() const { return comp_y; }
    U z() const { return comp_z; }
 
    static constexpr siderust_frame_t  frame_id() { return frames::FrameTraits<F>::ffi_id; }
    static constexpr siderust_center_t center_id() { return centers::CenterTraits<C>::ffi_id; }
 
    siderust_cartesian_pos_t to_c() const {
        return {comp_x.value(), comp_y.value(), comp_z.value(),
                frame_id(), center_id()};
    }
 
    static Position from_c(const siderust_cartesian_pos_t& c) {
        return Position(c.x, c.y, c.z);
    }
};
 
} // namespace cartesian
} // namespace siderust