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AC_Fence: correct get_boundary_points to account for closing point 

Also rename from get_polygon_points
This commit is contained in:
Peter Barker 2019-05-24 11:33:28 +10:00 committed by Peter Barker
parent 36fe9a18a0
commit 2822c635ec
2 changed files with 13 additions and 4 deletions
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15
libraries/AC_Fence/AC_Fence.cpp
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@ -460,13 +460,22 @@ void AC_Fence::manual_recovery_start()
} }
/// returns pointer to array of polygon points and num_points is filled in with the total number /// returns pointer to array of polygon points and num_points is filled in with the total number
Vector2f* AC_Fence::get_polygon_points(uint16_t& num_points) const Vector2f* AC_Fence::get_boundary_points(uint16_t& num_points) const
{ {
// return array minus the first point which holds the return location // return array minus the first point which holds the return location
num_points = (_boundary_num_points <= 1) ? 0 : _boundary_num_points - 1; if (_boundary == nullptr) {
if ((_boundary == nullptr) || (num_points == 0)) {
return nullptr; return nullptr;
} }
if (!_boundary_valid) {
return nullptr;
}
// minus one for return point, minus one for closing point
// (_boundary_valid is not true unless we have a closing point AND
// we have a minumum number of points)
if (_boundary_num_points < 2) {
return nullptr;
}
num_points = _boundary_num_points - 2;
return &_boundary[1]; return &_boundary[1];
} }

2
libraries/AC_Fence/AC_Fence.h
View File

@ -100,7 +100,7 @@ public:
/// ///
/// returns pointer to array of polygon points and num_points is filled in with the total number /// returns pointer to array of polygon points and num_points is filled in with the total number
Vector2f* get_polygon_points(uint16_t& num_points) const; Vector2f* get_boundary_points(uint16_t& num_points) const;
/// returns true if we've breached the polygon boundary. simple passthrough to underlying _poly_loader object /// returns true if we've breached the polygon boundary. simple passthrough to underlying _poly_loader object
bool boundary_breached(const Vector2f& location, uint16_t num_points, const Vector2f* points) const; bool boundary_breached(const Vector2f& location, uint16_t num_points, const Vector2f* points) const;