nav_parametric_3d_lissajous.h

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/*
 * Copyright (C) 2020 Hector Garcia de Marina <hgarciad@ucm.es>
 *
 * 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, see
 * <http://www.gnu.org/licenses/>.
 */
 
#ifndef GVF_PARAMETRIC_3D_LISSAJOUS_H
#define GVF_PARAMETRIC_3D_LISSAJOUS_H
 
#ifdef __cplusplus
extern "C" {
#endif
 
#include "modules/guidance/trajectories/gvf_param_traj.h"
 
typedef struct {
  float kx;
  float ky;
  float kz;
  float cx;
  float cy;
  float cz;
  float wx;
  float wy;
  float wz;
  float dx;
  float dy;
  float dz;
  float alpha;
} gvf_par_3d_lis_par;
typedef struct  {…};
 
extern gvf_par_3d_lis_par gvf_parametric_3d_lissajous_par;
 
// 3D Lissajous
extern bool nav_gvf_parametric_3D_lissajous_XYZ(float xo, float yo, float zo, float cx, float cy, float cz, float wx, float wy,
    float wz, float dx, float dy, float dz, float alpha);
extern bool nav_gvf_parametric_3D_lissajous_wp_center(uint8_t wp, float zo, float cx, float cy, float cz, float wx, float wy,
    float wz, float dx, float dy, float dz, float alpha);
 
#ifdef __cplusplus
}
#endif
 
#endif // GVF_PARAMETRIC_3D_LISSAJOUS_H