vector_field_waypoint.h

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/*******************************************************************************
 * \file vector_field_waypoint.h
 * 
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *   
 * \brief Vector field navigation using repulsors and attractors set through GPS waypoints
 *
 ******************************************************************************/


#ifndef VECTOR_FIELD_WAYPOINT_H_
#define VECTOR_FIELD_WAYPOINT_H_

#ifdef __cplusplus
extern "C" {
#endif

#include "mavlink_waypoint_handler.h"
#include "position_estimation.h"
#include "control_command.h"

typedef struct
{
    const mavlink_waypoint_handler_t*   waypoint_handler;           
    const position_estimation_t*        pos_est;                    
    velocity_command_t*                 velocity_command;           
} vector_field_waypoint_t;  


typedef struct
{
} vector_field_waypoint_conf_t; 


void vector_field_waypoint_init(vector_field_waypoint_t* vector_field, const vector_field_waypoint_conf_t* config, const mavlink_waypoint_handler_t* waypoint_handler, const position_estimation_t* pos_est, velocity_command_t* velocity_command);


void vector_field_waypoint_update(vector_field_waypoint_t* vector_field);


#ifdef __cplusplus
}
#endif

#endif /* VECTOR_FIELD_WAYPOINT_H_ */