autopilot/drone_controller/az_mission.h

#pragma once

#include <iostream>
#include <string>
#include <vector>

#include "az_action_point.h"
#include "az_coordinate.h"

using namespace std;

const double INVALID_HEIGHT = -100000;

enum AzGeofenceType { AZ_GEOFENCE_TYPE_NONE = 0, AZ_GEOFENCE_TYPE_INCLUSION = 1, AZ_GEOFENCE_TYPE_EXCLUSION = 2 };

class AzGeofence
{
public:
    vector<AzCoordinate> coordinates;
    AzGeofenceType type;
};

class AzMission
{
public:
    AzMission(string filename);

    const vector<AzGeofence> &getGeofences(void) const;

    const vector<AzActionPoint> &getActionPoints(void) const;

    int getOperationalHeight(void) const;

    AzCoordinate getReturnPoint(void) const;

    friend ostream &operator<<(ostream &os, const AzMission &obj);

private:
    void parse(void);

    string mFilename;
    vector<AzGeofence> mGeofences;
    vector<AzActionPoint> mActionPoints;
    int mOperationalHeight;
    AzCoordinate mReturnPoint;
};