/home/travis/build/lis-epfl/MAVRIC_Library/status/geofence_cylinder.hpp

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/*******************************************************************************
* \file geofence_cylinder.hpp
*
* \author MAV'RIC Team
* \author Julien Lecoeur
*
* \brief  Geofence with cylindrical shape
*
******************************************************************************/


#ifndef GEOFENCE_CYLINDER_HPP_
#define GEOFENCE_CYLINDER_HPP_

#include "status/geofence.hpp"
#include "util/constants.hpp"


class Geofence_cylinder: public Geofence
{
public:
    struct conf_t
    {
        global_position_t   center;             
        float               radius;             
        float               height;             
        bool                allowed_inside;     
    };


    static inline conf_t default_config(void);


    Geofence_cylinder(conf_t config = default_config());


   bool is_allowed(const global_position_t& position) const;


   bool closest_border(const global_position_t& current_position, global_position_t& border_position, float& distance) const;

 // protected:
    conf_t config_;     
};


Geofence_cylinder::conf_t Geofence_cylinder::default_config(void)
{
    conf_t config;

    config.center           = ORIGIN_EPFL;
    config.radius           = 200.0f;
    config.height           = 150.0f;
    config.allowed_inside   = true;

    return config;
};

#endif /* GEOFENCE_CYLINDER_HPP_ */