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AP_OADijkstra: cope with polyfence holding boundary points

This commit is contained in:
Peter Barker 2019-06-12 11:28:50 +10:00 committed by Andrew Tridgell
parent 9c89f9cc8b
commit 107b9d95ba
1 changed files with 6 additions and 6 deletions
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12
libraries/AC_Avoidance/AP_OADijkstra.cpp
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@ -139,7 +139,7 @@ bool AP_OADijkstra::polygon_fence_enabled() const
if (fence == nullptr) {
return false;
}
if (!fence->is_polygon_valid()) {
if (!fence->polyfence_const().valid_const()) {
return false;
}
return ((fence->get_enabled_fences() & AC_FENCE_TYPE_POLYGON) > 0);
@ -153,7 +153,7 @@ bool AP_OADijkstra::check_polygon_fence_updated() const
if (fence == nullptr) {
return false;
}
return (_polyfence_update_ms != fence->get_boundary_update_ms());
return (_polyfence_update_ms != fence->polyfence_const().update_ms());
}
// create a smaller polygon fence within the existing polygon fence
@ -168,7 +168,7 @@ bool AP_OADijkstra::create_polygon_fence_with_margin(float margin_cm)
// get polygon boundary
uint16_t num_points;
const Vector2f* boundary = fence->get_boundary_points(num_points);
const Vector2f* boundary = fence->polyfence_const().get_boundary_points(num_points);
if ((boundary == nullptr) || (num_points < 3)) {
return false;
}
@ -218,7 +218,7 @@ bool AP_OADijkstra::create_polygon_fence_with_margin(float margin_cm)
_polyfence_numpoints = num_points;
// record fence update time so we don't process this exact fence again
_polyfence_update_ms = fence->get_boundary_update_ms();
_polyfence_update_ms = fence->polyfence_const().update_ms();
return true;
}
@ -241,7 +241,7 @@ bool AP_OADijkstra::create_polygon_fence_visgraph()
// get polygon boundary
uint16_t num_points;
const Vector2f* boundary = fence->get_boundary_points(num_points);
const Vector2f* boundary = fence->polyfence_const().get_boundary_points(num_points);
if ((boundary == nullptr) || (num_points < 3)) {
return false;
}
@ -293,7 +293,7 @@ bool AP_OADijkstra::update_visgraph(AP_OAVisGraph& visgraph, const AP_OAVisGraph
// get polygon boundary
uint16_t num_points;
const Vector2f* boundary = fence->get_boundary_points(num_points);
const Vector2f* boundary = fence->polyfence_const().get_boundary_points(num_points);
if ((boundary == nullptr) || (num_points < 3)) {
return false;
}