platform.h

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// SPDX-License-Identifier: GPL-2.0-only
//
// Copyright (c) 2006-2008 Marc Brooker and Michael Inggs
// Copyright (c) 2008-present FERS Contributors (see AUTHORS.md).
//
// See the GNU GPLv2 LICENSE file in the FERS project root for more information.
 
/**
 * @file platform.h
 * @brief Defines the Platform class used in radar simulation.
 */
 
#pragma once
 
#include <memory>
#include <string>
#include <utility>
 
#include "core/config.h"
#include "core/sim_id.h"
#include "math/geometry_ops.h"
#include "math/path.h"
#include "math/rotation_path.h"
 
namespace radar
{
    /**
     * @class Platform
     * @brief Represents a simulation platform with motion and rotation paths.
     */
    class Platform
    {
    public:
        /**
         * @brief Constructs a Platform with the specified name.
         *
         * @param name The name of the platform.
         */
        explicit Platform(std::string name, const SimId id = 0) noexcept :
            _motion_path(std::make_unique<math::Path>()), _rotation_path(std::make_unique<math::RotationPath>()),
            _id(id == 0 ? SimIdGenerator::instance().generateId(ObjectType::Platform) : id), _name(std::move(name))
        {
        }
 
        Platform(const Platform&) = delete;
 
        Platform& operator=(const Platform&) = delete;
 
        ~Platform() = default;
 
        Platform(Platform&&) = default;
 
        Platform& operator=(Platform&&) = default;
 
        /**
         * @brief Gets the motion path of the platform.
         *
         * @return A pointer to the motion path of the platform.
         */
        [[nodiscard]] math::Path* getMotionPath() const noexcept { return _motion_path.get(); }
 
        /**
         * @brief Gets the rotation path of the platform.
         *
         * @return A pointer to the rotation path of the platform.
         */
        [[nodiscard]] math::RotationPath* getRotationPath() const noexcept { return _rotation_path.get(); }
 
        /**
         * @brief Gets the position of the platform at a specific time.
         *
         * @param time The time for which the position is requested.
         * @return A vector representing the position of the platform.
         */
        [[nodiscard]] math::Vec3 getPosition(const RealType time) const { return _motion_path->getPosition(time); }
 
        /**
         * @brief Gets the rotation of the platform at a specific time.
         *
         * @param time The time for which the rotation is requested.
         * @return A vector representing the rotation of the platform.
         */
        [[nodiscard]] math::SVec3 getRotation(const RealType time) const { return _rotation_path->getPosition(time); }
 
        /**
         * @brief Gets the name of the platform.
         *
         * @return A constant reference to the name of the platform.
         */
        [[nodiscard]] const std::string& getName() const noexcept { return _name; }
 
        /**
         * @brief Gets the unique ID of the platform.
         *
         * @return The platform SimId.
         */
        [[nodiscard]] SimId getId() const noexcept { return _id; }
 
        /**
         * @brief Sets the rotation path of the platform.
         *
         * @param path A unique pointer to the new rotation path.
         */
        void setRotationPath(std::unique_ptr<math::RotationPath> path) noexcept { _rotation_path = std::move(path); }
 
        /**
         * @brief Sets the motion path of the platform.
         *
         * @param path A unique pointer to the new motion path.
         */
        void setMotionPath(std::unique_ptr<math::Path> path) noexcept { _motion_path = std::move(path); }
 
        /**
         * @brief Sets the name of the platform.
         *
         * @param name The new name of the platform.
         */
        void setName(std::string name) noexcept { _name = std::move(name); }
 
    private:
        std::unique_ptr<math::Path> _motion_path; ///< The motion path of the platform.
        std::unique_ptr<math::RotationPath> _rotation_path; ///< The rotation path of the platform.
        SimId _id; ///< Unique ID for this platform.
        std::string _name; ///< The name of the platform.
    };
}