nav_cube.h

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/*
 * Copyright (C) 2010  Martin Mueller
 *
 * 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 NAV_CUBE_H
#define NAV_CUBE_H

#include "std.h"
#include "math/pprz_algebra_int.h"

struct NavCube {
  struct Int32Vect3 size;

  struct Int32Vect3 offset;
  int32_t alpha;            
  int32_t grid_x;           
  int32_t grid_z;           
  int32_t sect;             
  int32_t nsect_x;          
  int32_t nsect_z;          
  int32_t nline_x;          
  int32_t nline_z;          
};

extern struct NavCube nav_cube;

extern void nav_cube_setup(uint8_t turb, uint8_t tb, uint8_t te);
extern bool nav_cube_run(int8_t j, int8_t i,
                         uint8_t dest_b, uint8_t dest_e,
                         uint8_t src_b, uint8_t src_e);

#define nav_cube_SetAlpha(i) { nav_cube.alpha=i; }
#define nav_cube_SetSect(i)  { nav_cube.sect=i; }
#define nav_cube_SetGridX(i) { nav_cube.grid_x=i; }
#define nav_cube_SetGridZ(i) { nav_cube.grid_z=i; }
#define nav_cube_SetSizeX(i) { nav_cube.size.x=i; }
#define nav_cube_SetSizeY(i) { nav_cube.size.y=i; }
#define nav_cube_SetSizeZ(i) { nav_cube.size.z=i; }
#define nav_cube_SetOffsX(i) { nav_cube.offs.x=i; }
#define nav_cube_SetOffsY(i) { nav_cube.offs.y=i; }
#define nav_cube_SetOffsZ(i) { nav_cube.offs.z=i; }
#define nav_cube_SetNSectX(i) { nav_cube.nsect_x=i; }
#define nav_cube_SetNSectZ(i) { nav_cube.nsect_z=i; }


#endif /* NAV_CUBE_H */