GPSPosition.h

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#ifndef _GAMS_UTILITY_GPS_POSITION_H_
#define _GAMS_UTILITY_GPS_POSITION_H_

#include "gams/GamsExport.h"
#include "madara/knowledge/containers/DoubleVector.h"
#include "madara/knowledge/containers/NativeDoubleVector.h"

#include "Position.h"

#include "gams/pose/Position.h"
#include "gams/pose/GPSFrame.h"

namespace gams
{
  namespace utility
  {
    class GAMS_EXPORT GPSPosition : public Position
    {
    public:
      GPSPosition (
        double init_lat = 0.0, double init_lon = 0.0, double init_alt = 0.0);

      GPSPosition (const GPSPosition & position);
      
      GPSPosition (const Position & position);

      GPSPosition (const pose::Position & pos)
        : Position(pos.lat(), pos.lng(), pos.alt()) {}

      pose::Position to_gps_pos () const {
        return pose::Position (pose::gps_frame(),
          longitude(), latitude(), altitude());
      }

      virtual ~GPSPosition ();

      bool operator< (const GPSPosition& rhs) const;

      void operator= (const GPSPosition & rhs);

      bool operator== (const GPSPosition & rhs) const;
      
      bool operator== (const
        madara::knowledge::containers::DoubleArray & rhs) const;

      bool operator== (const
        madara::knowledge::containers::NativeDoubleArray & rhs) const;
      
      bool operator!= (const GPSPosition & rhs) const;
      
      bool operator!= (const
        madara::knowledge::containers::DoubleArray & rhs) const;

      bool operator!= (const
        madara::knowledge::containers::NativeDoubleArray & rhs) const;

      bool approximately_equal(
        const GPSPosition & rhs, const double & epsilon) const;

      void direction_to (const GPSPosition& rhs, double& phi) const;

      double distance_to (const GPSPosition & rhs) const;

      std::string to_string (const std::string & delimiter = ",",
        const unsigned int precision = 8) const;

      virtual Position to_position (const GPSPosition& ref) const;
      
      static GPSPosition to_gps_position (const Position & source,
        const GPSPosition & ref);

      static GPSPosition from_string (const std::string & delimiter = ",");

      virtual void to_container (
        madara::knowledge::containers::DoubleArray & target) const;
      
      virtual void from_container (
        madara::knowledge::containers::DoubleArray & source);
      
      virtual void to_container (
        madara::knowledge::containers::NativeDoubleArray & target)
        const;
      
      virtual void from_container (
        madara::knowledge::containers::NativeDoubleArray & source);

      inline double latitude () const { return x; }
      
      inline double longitude () const { return y; }
      
      inline double altitude () const { return z; }

      inline void latitude (double input) { x = input; }
      
      inline void longitude (double input) { y = input; }
      
      inline void altitude (double input) { z = input; }

    }; // class GPSPosition

    // helpful typedef for vector of positions
    typedef std::vector <GPSPosition>    GpsPositions;
  } // namespace utility
} // namespace gams

#endif // _GAMS_UTILITY_GPS_POSITION_H_