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AC_Avoidance: Dijkstra's ignores invalid polygon fences

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Randy Mackay 2019-07-07 07:23:24 +09:00 committed by Tom Pittenger
parent 614b0f6dc8
commit 655ddd4ab3
1 changed files with 3 additions and 0 deletions
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3
libraries/AC_Avoidance/AP_OADijkstra.cpp
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@ -122,6 +122,9 @@ bool AP_OADijkstra::polygon_fence_enabled() const
if (fence == nullptr) { if (fence == nullptr) {
return false; return false;
} }
if (!fence->is_polygon_valid()) {
return false;
}
return ((fence->get_enabled_fences() & AC_FENCE_TYPE_POLYGON) > 0); return ((fence->get_enabled_fences() & AC_FENCE_TYPE_POLYGON) > 0);
} }