-// waypoint.hxx -- Class to hold data and return info relating to a waypoint
-//
+/**
+ * \file waypoint.hxx
+ * Provides a class to manage waypoints
+ */
+
// Written by Curtis Olson, started September 2000.
//
// Copyright (C) 2000 Curtis L. Olson - curt@hfrl.umn.edu
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
// $Id$
#ifndef _WAYPOINT_HXX
#define _WAYPOINT_HXX
-
-#ifndef __cplusplus
-# error This library requires C++
-#endif
-
-
-#ifdef HAVE_CONFIG_H
-# include <config.h>
-#endif
-
#include <simgear/compiler.h>
-#include STL_STRING
+#include <simgear/math/SGMath.hxx>
+#include <simgear/math/SGGeod.hxx>
-FG_USING_STD(string);
+#include <string>
+/**
+ * A class to manage waypoints.
+ */
+
class SGWayPoint {
public:
+ /**
+ * Waypoint mode.
+ * <li> WGS84 requests all bearing and distance math be done assuming a
+ * WGS84 ellipsoid world. This is the most expensive computationally,
+ * but also the most accurate.
+ * <li> SPHERICAL requests all bearing and distance math be done assuming
+ * the world is a perfect sphere. This is less compuntationally
+ * expensive than using wgs84 math and still a fairly good
+ * approximation of the real world, especially over shorter distances.
+ */
enum modetype {
WGS84 = 0,
- SPHERICAL = 1,
- CARTESIAN = 2
};
private:
-
- modetype mode;
-
- double target_lon;
- double target_lat;
- double target_alt;
-
- string id;
-
+ SGGeod pos;
+ std::string id;
+ std::string name;
+
+ // route data associated with the waypoint
+ double _distance;
+ double _track;
+ double _speed;
+
public:
- SGWayPoint();
- SGWayPoint( const double lon, const double lat, const double alt,
- const modetype m = WGS84, const string s = "" );
+ /**
+ * Construct a waypoint
+ * @param lon destination longitude
+ * @param lat destination latitude
+ * @param alt target altitude
+ * @param mode type of coordinates/math to use
+ * @param s waypoint identifier
+ * @param n waypoint name
+ */
+ SGWayPoint( const double lon = 0.0, const double lat = 0.0,
+ const double alt = 0.0, const modetype m = WGS84,
+ const std::string& s = "", const std::string& n = "" );
+
+ /**
+ * Construct from a geodetic position, in WGS84 coordinates
+ */
+ SGWayPoint(const SGGeod& pos, const std::string& s, const std::string& n);
+
+ /** Destructor */
~SGWayPoint();
- // Calculate course and distances. For WGS84 and SPHERICAL
- // coordinates lat, lon, and course are in degrees, alt and
- // distance are in meters. For CARTESIAN coordinates x = lon, y =
- // lat. Course is in degrees and distance is in what ever units x
- // and y are in.
+ /**
+ * Calculate course and distances. For WGS84 and SPHERICAL
+ * coordinates lat, lon, and course are in degrees, alt and
+ * distance are in meters. For CARTESIAN coordinates x = lon, y =
+ * lat. Course is in degrees and distance is in what ever units x
+ * and y are in.
+ * @param cur_lon (in) current longitude
+ * @param cur_lat (in) current latitude
+ * @param cur_alt (in) current altitude
+ * @param course (out) heading from current location to this waypoint
+ * @param dist (out) distance from current location to this waypoint
+ */
void CourseAndDistance( const double cur_lon, const double cur_lat,
const double cur_alt,
- double *course, double *distance );
+ double *course, double *dist ) const;
+
+ void CourseAndDistance(const SGGeod& current,
+ double& course, double& dist ) const;
+
+ /**
+ * Calculate course and distances between a specified starting waypoint
+ * and this waypoint.
+ * @param wp (in) original waypoint
+ * @param course (out) heading from current location to this waypoint
+ * @param dist (out) distance from current location to this waypoint
+ */
+ void CourseAndDistance( const SGWayPoint &wp,
+ double *course, double *dist ) const;
+
+ /** @return waypoint longitude */
+ inline double get_target_lon() const { return pos.getLongitudeDeg(); }
+
+ /** @return waypoint latitude */
+ inline double get_target_lat() const { return pos.getLatitudeDeg(); }
+
+ /** @return waypoint altitude */
+ inline double get_target_alt() const { return pos.getElevationM(); }
+
+ inline const SGGeod& get_target() const { return pos; }
+
+ /**
+ *
+ */
+ inline void setTargetAltFt(double elev)
+ { pos.setElevationFt(elev); }
+
+ /**
+ * This value is not calculated by this class. It is simply a
+ * placeholder for the user to stash a distance value. This is useful
+ * when you stack waypoints together into a route. You can calculate the
+ * distance from the previous waypoint once and save it here. Adding up
+ * all the distances here plus the distance to the first waypoint gives you
+ * the total route length. Note, you must update this value yourself, this
+ * is for your convenience only.
+ * @return waypoint distance holder (what ever the user has stashed here)
+ */
+ inline double get_distance() const { return _distance; }
+
+ /**
+ * Set the waypoint distance value to a value of our choice.
+ * @param d distance
+ */
+ inline void set_distance( double d ) { _distance = d; }
+
+ inline double get_track() const { return _track; }
+ inline void set_track(double t) { _track = t; }
+
+ inline double get_speed() const { return _speed; }
+ inline void set_speed(double v) { _speed = v; }
+
+ /** @return waypoint id */
+ inline const std::string& get_id() const { return id; }
+
+ /** @return waypoint name */
+ inline const std::string& get_name() const { return name; }
- inline modetype get_mode() const { return mode; }
- inline double get_target_lon() const { return target_lon; }
- inline double get_target_lat() const { return target_lat; }
- inline double get_target_alt() const { return target_alt; }
- inline string get_id() const { return id; }
};
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