mirror of https://github.com/ArduPilot/ardupilot
38 lines
1.6 KiB
C
38 lines
1.6 KiB
C
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#pragma once
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#include <AP_Common/AP_Common.h>
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#include <AP_Math/AP_Math.h>
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class AC_PolyFence_loader
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{
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public:
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// maximum number of fence points we can store in eeprom
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uint8_t max_points() const;
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// create buffer to hold copy of eeprom points in RAM
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// returns NULL if not enough memory can be allocated
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void* create_point_array(uint8_t element_size);
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// load boundary point from eeprom, returns true on successful load
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bool load_point_from_eeprom(uint16_t i, Vector2l& point);
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// save a fence point to eeprom, returns true on successful save
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bool save_point_to_eeprom(uint16_t i, const Vector2l& point);
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// validate array of boundary points (expressed as either floats or long ints)
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// contains_return_point should be true for plane which stores the return point as the first point in the array
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// returns true if boundary is valid
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bool boundary_valid(uint16_t num_points, const Vector2l* points, bool contains_return_point) const;
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bool boundary_valid(uint16_t num_points, const Vector2f* points, bool contains_return_point) const;
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// check if a location (expressed as either floats or long ints) is within the boundary
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// contains_return_point should be true for plane which stores the return point as the first point in the array
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// returns true if location is outside the boundary
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bool boundary_breached(const Vector2l& location, uint16_t num_points, const Vector2l* points, bool contains_return_point) const;
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bool boundary_breached(const Vector2f& location, uint16_t num_points, const Vector2f* points, bool contains_return_point) const;
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};
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