velocity_yaw.h

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#pragma once
#include "aerial_autonomy/types/velocity.h"
#include <aerial_autonomy/common/math.h>

struct VelocityYaw : public Velocity {
  VelocityYaw() : Velocity(), yaw(0) {}
  VelocityYaw(Velocity v, double yaw) : Velocity(v), yaw(yaw) {}
  VelocityYaw(double x, double y, double z, double yaw)
      : Velocity(x, y, z), yaw(yaw) {}
  double yaw; 

  bool operator==(const VelocityYaw &v) const {
    return (Velocity::operator==(v) && yaw == v.yaw);
  }
  bool operator!=(const VelocityYaw &v) const { return !(*this == v); }

  VelocityYaw operator-(const VelocityYaw &v) const {
    return VelocityYaw(this->x - v.x, this->y - v.y, this->z - v.z,
                       math::angleWrap(this->yaw - v.yaw));
  }
};