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 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();
        }
 
        [[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();
        }
    };
}