nav_sin.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_IK_SIN_H
#define GVF_IK_SIN_H
 
#include "modules/guidance/trajectories/gvf_traj.h"
 
typedef struct {
  float ke;
  float kn;
  float alpha;
  float w;
  float off;
  float A;
} gvf_ik_s_par;
typedef struct  {…};
 
extern gvf_ik_s_par gvf_ik_sin_par;
 
// Sinusoidal
extern bool nav_gvf_ik_sin_XY_alpha(float x, float y, float alpha, float w, float off, float A);
extern bool nav_gvf_ik_sin_wp1_wp2(uint8_t wp1, uint8_t wp2, float w, float off, float A);
extern bool nav_gvf_ik_sin_wp_alpha(uint8_t wp, float alpha, float w, float off, float A);
 
#endif // GVF_IK_SIN_H