mission_feasibility_checker.h
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/****************************************************************************
*
* Copyright (c) 2013-2017 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mission_feasibility_checker.h
* Provides checks if mission is feasible given the navigation capabilities
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Sander Smeets <sander@droneslab.com>
* @author Nuno Marques <nuno.marques@dronesolutions.io>
*/
#pragma once
#include <dataman/dataman.h>
#include <uORB/topics/mission.h>
class Geofence;
class Navigator;
class MissionFeasibilityChecker
{
private:
Navigator *_navigator{nullptr};
/* Checks for all airframes */
bool checkGeofence(const mission_s &mission, float home_alt, bool home_valid);
bool checkHomePositionAltitude(const mission_s &mission, float home_alt, bool home_alt_valid);
bool checkMissionItemValidity(const mission_s &mission);
bool checkDistanceToFirstWaypoint(const mission_s &mission, float max_distance);
bool checkDistancesBetweenWaypoints(const mission_s &mission, float max_distance);
bool checkTakeoff(const mission_s &mission, float home_alt);
/* Checks specific to fixedwing airframes */
bool checkFixedwing(const mission_s &mission, float home_alt, bool land_start_req);
bool checkFixedWingLanding(const mission_s &mission, bool land_start_req);
/* Checks specific to rotarywing airframes */
bool checkRotarywing(const mission_s &mission, float home_alt);
/* Checks specific to VTOL airframes */
bool checkVTOL(const mission_s &mission, float home_alt, bool land_start_req);
bool checkVTOLLanding(const mission_s &mission, bool land_start_req);
public:
MissionFeasibilityChecker(Navigator *navigator) : _navigator(navigator) {}
~MissionFeasibilityChecker() = default;
MissionFeasibilityChecker(const MissionFeasibilityChecker &) = delete;
MissionFeasibilityChecker &operator=(const MissionFeasibilityChecker &) = delete;
/*
* Returns true if mission is feasible and false otherwise
*/
bool checkMissionFeasible(const mission_s &mission,
float max_distance_to_1st_waypoint, float max_distance_between_waypoints,
bool land_start_req);
};