/home/travis/build/lis-epfl/MAVRIC_Library/mission/mission_handler_takeoff.hpp

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/*******************************************************************************
 * \file mission_handler_takeoff.hpp
 *
 * \author MAV'RIC Team
 * \author Matthew Douglas
 * \author Julien Lecoeur
 *
 * \brief The mission handler for the takeoff
 *
 ******************************************************************************/


#ifndef MISSION_HANDLER_TAKEOFF_HPP_
#define MISSION_HANDLER_TAKEOFF_HPP_

#include "status/state.hpp"
#include "mission/mission_handler.hpp"

/*
 * \brief The mission handler for the takeoff
 */
class Mission_handler_takeoff : public Mission_handler
{
public:


     Mission_handler_takeoff(const INS& ins, State& state);

    virtual bool can_handle(const Waypoint& wpt) const;

    virtual bool setup(const Waypoint& wpt);

    virtual Mission_handler::update_status_t update();


    virtual bool write_flight_command(Flight_controller& flight_controller) const;


    virtual Mission_planner::internal_state_t handler_mission_state() const;

protected:
    const INS& ins_;                
    State& state_;                  
    Waypoint waypoint_;             
};

#endif // MISSION_HANDLER_TAKEOFF_HPP_