nav_line.h

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/*
 * Copyright (C) 2016  Hector Garcia de Marina
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 *
 */
 
#ifndef GVF_LINE_H
#define GVF_LINE_H
 
#include "modules/guidance/trajectories/gvf_traj.h"
#include "math/pprz_algebra_float.h"
 
typedef struct {
  float ke;
  float kn;
  float heading;
} gvf_li_par;
typedef struct  {…};
 
typedef struct {
  float d1;
  float d2;
} gvf_seg_par;
typedef struct  {…};
 
extern gvf_li_par gvf_line_par;
extern gvf_seg_par gvf_segment_par;
 
// Straight line
extern bool nav_gvf_line_XY_heading(float x, float y, float heading);
extern bool nav_gvf_line_wp_heading(uint8_t wp, float heading);
extern bool nav_gvf_line_XY1_XY2(float x1, float y1, float x2, float y2);
extern bool nav_gvf_line_wp1_wp2(uint8_t wp1, uint8_t wp2);
extern bool nav_gvf_segment_loop_XY1_XY2(float x1, float y1, float x2, float y2, float d1, float d2);
extern bool nav_gvf_segment_loop_wp1_wp2(uint8_t wp1, uint8_t wp2, float d1, float d2);
extern bool nav_gvf_segment_XY1_XY2(float x1, float y1, float x2, float y2);
extern bool nav_gvf_segment_wp1_wp2(uint8_t wp1, uint8_t wp2);
extern bool nav_gvf_segment_points(struct FloatVect2 start, struct FloatVect2 end);
 
#endif // GVF_LINE_H