#pragma once

#include "Propulsion.h"
#include "Thing.h"
#include "Vector3.h"

namespace Passer {
namespace RoboidControl {

/// @brief Support for Quadcopter as a propulsion method
class Quadcopter : public Propulsion {
 public:
  /// @brief Default constuctor
  Quadcopter();

  virtual void SetTwistSpeed(float forward, float yaw = 0.0F) override;
  virtual void SetTwistSpeed(Vector2 linear, float yaw = 0.0F) override;
  virtual void SetTwistSpeed(Vector3 linear,
                             float yaw = 0.0F,
                             float pitch = 0.0F,
                             float roll = 0.0F) override;

  Vector3 GetTargetVelocity();
  float GetYawSpeed();
  float GetPitchSpeed();
  float GetRollSpeed();

 protected:
  Vector3 velocity = Vector3::zero;
  float pitchSpeed = 0.0F;
  float yawSpeed = 0.0F;
  float rollSpeed = 0.0F;
};

}  // namespace RoboidControl
}  // namespace Passer
using namespace Passer::RoboidControl;