paths.h

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/*
 * This program 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.
 *
 * This program 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 this program; if not, see <http://www.gnu.org/licenses/>
 */

#ifndef PATHS_H_
#define PATHS_H_

#include "pios.h"
#include "openpilot.h"
#include "pathdesired.h"

struct path_status {
        float fractional_progress;
        float error;
        float correction_direction[2];
        float path_direction[2];
};

void path_progress(const PathDesiredData *pathDesired, const float * cur_point, struct path_status * status);

#endif /* PATHS_H_ */