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AP_Math: add Polygon_outside and Polygon_complete functions

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This commit is contained in:
Daniel Ricketts 2016-06-20 10:12:03 +09:00 committed by Randy Mackay
parent 80bda572ba
commit 249d95b413
2 changed files with 14 additions and 4 deletions
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12
libraries/AP_Math/polygon.cpp
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@ -35,7 +35,8 @@
* expect that to be very small over the distances involved in the
* fence boundary
*/
bool Polygon_outside(const Vector2l &P, const Vector2l *V, unsigned n)
template <typename T>
bool Polygon_outside(const Vector2<T> &P, const Vector2<T> *V, unsigned n)
{
unsigned i, j;
bool outside = true;
@ -85,7 +86,14 @@ bool Polygon_outside(const Vector2l &P, const Vector2l *V, unsigned n)
* and the first point is the same as the last point. That is the
* minimum requirement for the Polygon_outside function to work
*/
bool Polygon_complete(const Vector2l *V, unsigned n)
template <typename T>
bool Polygon_complete(const Vector2<T> *V, unsigned n)
{
return (n >= 4 && V[n-1].x == V[0].x && V[n-1].y == V[0].y);
}
// Necessary to avoid linker errors
template bool Polygon_outside<int32_t>(const Vector2l &P, const Vector2l *V, unsigned n);
template bool Polygon_complete<int32_t>(const Vector2l *V, unsigned n);
template bool Polygon_outside<float>(const Vector2f &P, const Vector2f *V, unsigned n);
template bool Polygon_complete<float>(const Vector2f *V, unsigned n);

6
libraries/AP_Math/polygon.h
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@ -20,6 +20,8 @@
#include "vector2.h"
bool Polygon_outside(const Vector2l &P, const Vector2l *V, unsigned n);
bool Polygon_complete(const Vector2l *V, unsigned n);
template <typename T>
bool Polygon_outside(const Vector2<T> &P, const Vector2<T> *V, unsigned n);
template <typename T>
bool Polygon_complete(const Vector2<T> *V, unsigned n);