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AP_Avoidance: add static create method for AP_Avoidance_*

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Lucas De Marchi 2017-09-18 18:39:00 -07:00 committed by Francisco Ferreira
parent 6d009cdf6e
commit 46e8d9b6d1
1 changed files with 2 additions and 4 deletions
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6
libraries/AP_Avoidance/AP_Avoidance.h
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@ -39,9 +39,7 @@
#define AP_AVOIDANCE_ESCAPE_TIME_SEC 2 // vehicle runs from thread for 2 seconds #define AP_AVOIDANCE_ESCAPE_TIME_SEC 2 // vehicle runs from thread for 2 seconds
class AP_Avoidance { class AP_Avoidance {
public: public:
// obstacle class to hold latest information for a known obstacles // obstacle class to hold latest information for a known obstacles
class Obstacle { class Obstacle {
public: public:
@ -61,8 +59,6 @@ public:
uint32_t last_gcs_report_time; // millis uint32_t last_gcs_report_time; // millis
}; };
// constructor
AP_Avoidance(AP_AHRS &ahrs, class AP_ADSB &adsb);
// add obstacle to the list of known obstacles // add obstacle to the list of known obstacles
void add_obstacle(uint32_t obstacle_timestamp_ms, void add_obstacle(uint32_t obstacle_timestamp_ms,
@ -96,6 +92,8 @@ public:
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
protected: protected:
// constructor
AP_Avoidance(AP_AHRS &ahrs, class AP_ADSB &adsb);
// top level avoidance handler. This calls the vehicle specific handle_avoidance with requested action // top level avoidance handler. This calls the vehicle specific handle_avoidance with requested action
void handle_avoidance_local(AP_Avoidance::Obstacle *threat); void handle_avoidance_local(AP_Avoidance::Obstacle *threat);