WaypointInterface.h

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/***************************************************************
 
 Mini Grand Challenge 2010
 Pennsylvania State University - Robotics Club
 Learn more at www.psurobotics.org
 Protected by the GNU General Public License
 
 This source file is developed and maintained by:
 + Jeremy Bridon jgb5034@psu.edu
 
 File: WaypointInterface.cpp/h
 Desc: Interfaces with a GPS device as well as manages the
 waypoint data loading from a config file. The waypoint configuration
 file name should be given as part of this component's configuration
 file with the string/data name pair "WaypointFile".
 
***************************************************************/

// Inclusion guard
#ifndef __WAYPOINTINTERFACE_H_
#define __WAYPOINTINTERFACE_H_

// Standard includes
#include <queue>
#include "../Shared/Utilities.h"
#include "../Shared/BaseComponent.h"
#include "../Shared/Vector2.h"

#define EarthRadius 6378100.0

class WaypointInterface : public BaseComponent
{
public:
        
        WaypointInterface();
        
        ~WaypointInterface();
        
        int Update();
        
private:

        Vector2<double> GetLocation();

        // Get target waypoint location
        Vector2<double> GetWaypoint();

        double GetWaypointDistance();
        
        double GetWaypointAngle();
        
        void ParseWaypointFile(const char* FileName);
        
        queue< Vector2<double> > Waypoints;
        
        int WaypointTotal;
        
        int WaypointIndex;
        
        int GPSQuality;
};

// End of inclusion guard
#endif

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