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

/*******************************************************************************
 * Copyright (c) 2009-2016, MAV'RIC Development Team
 * All rights reserved.
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/*******************************************************************************
 * \file waypoint.hpp
 *
 * \author MAV'RIC Team
 * \author Matthew Douglas
 *
 * \brief The waypoint class
 *
 ******************************************************************************/


#ifndef WAYPOINT__
#define WAYPOINT__

#include "navigation/dubin.hpp"
#include "communication/mavlink_communication.hpp"
#include "communication/mavlink_stream.hpp"
#include "communication/mavlink_message_handler.hpp"
#include "util/coord_conventions.hpp"

/*
 * N.B.: Reference Frames and MAV_CMD_NAV are defined in "maveric.h"
 */

class Waypoint
{
public:
    Waypoint();

    Waypoint(mavlink_mission_item_t& packet);

    Waypoint(   uint8_t frame,
                uint16_t command,
                uint8_t autocontinue,
                float param1,
                float param2,
                float param3,
                float param4,
                float param5,
                float param6,
                float param7);

    void send(const Mavlink_stream& mavlink_stream, uint32_t sysid, const mavlink_message_t* msg, uint16_t seq, uint8_t current);

    uint8_t frame() const;

    uint16_t command() const;

    uint8_t autocontinue() const;

    float param1() const;

    float param2() const;

    float param3() const;

    float param4() const;

    float param5() const;

    float param6() const;

    float param7() const;

    bool heading(float& heading) const;

    bool radius(float& radius) const;

    local_position_t local_pos() const;

protected:
    uint8_t frame_;                                         
    uint16_t command_;                                      
    uint8_t autocontinue_;                                  
    float param1_;                                          
    float param2_;                                          
    float param3_;                                          
    float param4_;                                          
    float param5_;                                          
    float param6_;                                          
    float param7_;                                          
};





#endif // WAYPOINT__