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AC_Avoid: Simplify accessing boundary

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Rishabh 2020-12-27 22:02:34 +05:30 committed by Randy Mackay
parent d359c5ddf2
commit 5092bc2f6d
2 changed files with 5 additions and 3 deletions
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5
libraries/AC_Avoidance/AC_Avoid.cpp
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@ -1072,7 +1072,10 @@ void AC_Avoid::adjust_velocity_proximity(float kP, float accel_cmss, Vector3f &d
for (uint8_t i = 0; i<obstacle_num; i++) { for (uint8_t i = 0; i<obstacle_num; i++) {
// get obstacle from proximity library // get obstacle from proximity library
Vector3f vector_to_obstacle; Vector3f vector_to_obstacle;
_proximity.get_obstacle(i, vector_to_obstacle); if (!_proximity.get_obstacle(i, vector_to_obstacle)) {
// this one is not valid
continue;
}
const float dist_to_boundary = vector_to_obstacle.length(); const float dist_to_boundary = vector_to_obstacle.length();
if (is_zero(dist_to_boundary)) { if (is_zero(dist_to_boundary)) {
continue; continue;

3
libraries/AC_Avoidance/AC_Avoid.h
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@ -22,8 +22,7 @@
#define AC_AVOID_MIN_BACKUP_BREACH_DIST 10.0f // vehicle will backaway if breach is greater than this distance in cm #define AC_AVOID_MIN_BACKUP_BREACH_DIST 10.0f // vehicle will backaway if breach is greater than this distance in cm
/* /*
* This class prevents the vehicle from leaving a polygon fence in * This class prevents the vehicle from leaving a polygon fence or avoiding proximity based obstacles
* 2 dimensions by limiting velocity (adjust_velocity).
* Additionally the vehicle may back up if the margin to obstacle is breached * Additionally the vehicle may back up if the margin to obstacle is breached
*/ */
class AC_Avoid { class AC_Avoid {