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

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


#ifndef VECTOR_FIELD_WAYPOINT_HPP_
#define VECTOR_FIELD_WAYPOINT_HPP_

#include "communication/mavlink_waypoint_handler.hpp"
#include "mission/waypoint.hpp"
#include "sensing/ins.hpp"
#include "control/control_command.hpp"

typedef struct
{
    const Mavlink_waypoint_handler*   waypoint_handler;         
    const INS*                        ins;                      
    velocity_command_t*               velocity_command;         
} vector_field_waypoint_t;


typedef struct
{
} vector_field_waypoint_conf_t;


bool vector_field_waypoint_init(vector_field_waypoint_t* vector_field, Mavlink_waypoint_handler* waypoint_handler, const INS* ins, velocity_command_t* velocity_command, const vector_field_waypoint_conf_t* config);


bool vector_field_waypoint_update(vector_field_waypoint_t* vector_field);


#endif /* VECTOR_FIELD_WAYPOINT_HPP_ */