flight/libraries/inc/paths.h

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       paths.h
   5  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
   6  * @brief      Header for path manipulation library
   7  *
   8  * @see        The GNU Public License (GPL) Version 3
   9  *
  10  *****************************************************************************/
  11 /*
  12  * This program is free software; you can redistribute it and/or modify
  13  * it under the terms of the GNU General Public License as published by
  14  * the Free Software Foundation; either version 3 of the License, or
  15  * (at your option) any later version.
  16  *
  17  * This program is distributed in the hope that it will be useful, but
  18  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  19  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  20  * for more details.
  21  *
  22  * You should have received a copy of the GNU General Public License along
  23  * with this program; if not, write to the Free Software Foundation, Inc.,
  24  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  25  */
  26
  27 #ifndef PATHS_H_
  28 #define PATHS_H_
  29
  30 struct path_status {
  31     float fractional_progress;
  32     float error;
  33     float path_vector[3];
  34     float correction_vector[3];
  35 };
  36
  37 void path_progress(PathDesiredData *path, float *cur_point, struct path_status *status, bool mode3D);
  38
  39 #endif