/home/travis/build/lis-epfl/MAVRIC_Library/navigation/dubin.hpp

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/*******************************************************************************
 * \file dubin.hpp
 *
 * \author MAV'RIC Team
 * \author Nicolas Dousse
 *
 * \brief Vector field navigation using Dubin's path
 *
 ******************************************************************************/

#ifndef DUBIN_HPP_
#define DUBIN_HPP_

#include <cstdint>
#include <cstdbool>
#include "util/constants.hpp"

extern "C"
{
#include "util/vectors.h"
#include "util/maths.h"
}

typedef enum
{
    DUBIN_INIT = 0,
    DUBIN_CIRCLE1 = 1,
    DUBIN_STRAIGHT = 2,
    DUBIN_CIRCLE2 = 3,
} dubin_state_t;

/*
 * \brief   The Dubin's path structure
 */
typedef struct
{
    float circle_center_1[3];           
    float tangent_point_1[3];           
    int8_t sense_1;                     
    int8_t radius_1;                    
    float circle_center_2[3];           
    float tangent_point_2[3];           
    float line_direction[3];            
    float length;                       
}dubin_t;

//void dubin_test_code(void);

void dubin_line(float tvel[3], const float line_dir[3], const float line_origin[3], const float pos[3], const float speed, const float one_over_scaling);

void dubin_circle(float tvel[3], const float circle[3], float radius_mavlink, const float pos[3], float speed, float one_over_scaling, float look_ahead_angle=0.0f);

dubin_t dubin_2d(const float wp1[3], const float wp2[3], const float d1[3], const float d2[3], float sense_mavlink);

#endif /* DUBIN_HPP_ */