UavAutopilot.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno    
//
// This file is part of MIP.
//
// MIP is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// MIP is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------


#ifndef __UAV_AUTOPILOT_H__
#define __UAV_AUTOPILOT_H__

#ifdef MIP_HOST_APPLE
 #include <applePatch.h>
#endif

#include <Types.h>
#include <baselib.h>

using namespace std;
using namespace MipBaselib;
 
// /// \addtogroup uav_Module
// /* @{ */
 
class UavAutopilot{

 public:
  virtual void getRef(Position3D currPos,Time currTime,Position3D& desPos,Velocity3D& desVel,bool & done) = 0;
  virtual void getRef(Position3D currPos,Velocity3D& desVel,bool& done) = 0;
};
 
 
class Landing : public UavAutopilot{
 Position3D _finalPos;
 Position3D _interPos;
 Position3D _initPos;
 Decimal _toll;

 Position3D _initDispl;
 Velocity3D _initVel;
 Time _initTime;
 Decimal _maxSpeed;
 int _phase;

 public:
  Landing(Position3D finalPos,Position3D interPos,Decimal toll,Decimal speed);
 
  void getRef(Position3D currPos,Time currTime,Position3D& desPos,Velocity3D& desVel,bool & done);
  void getRef(Position3D currPos,Velocity3D& desVel,bool& done);
};


class Takeoff : public UavAutopilot{
 Position3D _finalPos;
 Position3D _interPos;
 Position3D _initPos;
 Decimal _toll;
 
 bool printDebug;

 Decimal _maxSpeed;
 int _phase;

 public:
  Takeoff(Position3D initialPos,Decimal toll,Decimal maxSpeed);
 
  void getRef(Position3D currPos,Time currTime,Position3D& desPos,Velocity3D& desVel,bool & done){};
  void getRef(Position3D currPos,Velocity3D& desVel,bool& done);
  bool getRef(Position3D currPos,Position3D desPos,Velocity3D& refVel);
};
 


#endif

// /* @} */