mirror of https://github.com/ArduPilot/ardupilot
AC_Avoid: move closest_point to AP_Math
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@ -122,7 +122,7 @@ void AC_Avoid::adjust_velocity_poly(const float kP, const float accel_cmss, Vect
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Vector2f start = boundary[j];
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Vector2f end = boundary[i];
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// vector from current position to closest point on current edge
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Vector2f limit_direction = closest_point(position_xy, start, end) - position_xy;
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Vector2f limit_direction = Vector2f::closest_point(position_xy, start, end) - position_xy;
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// distance to closest point
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const float limit_distance = limit_direction.length();
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if (!is_zero(limit_distance)) {
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@ -201,31 +201,3 @@ float AC_Avoid::get_stopping_distance(const float kP, const float accel_cmss, co
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return linear_distance + (speed*speed)/(2.0f*accel_cmss);
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}
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}
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/*
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* Returns the point closest to p on the line segment (v,w).
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*
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* Comments and implementation taken from
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* http://stackoverflow.com/questions/849211/shortest-distance-between-a-point-and-a-line-segment
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*/
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Vector2f AC_Avoid::closest_point(Vector2f p, Vector2f v, Vector2f w) const
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{
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// length squared of line segment
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const float l2 = (v - w).length_squared();
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if (is_zero(l2)) {
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// v == w case
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return v;
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}
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// Consider the line extending the segment, parameterized as v + t (w - v).
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// We find projection of point p onto the line.
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// It falls where t = [(p-v) . (w-v)] / |w-v|^2
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// We clamp t from [0,1] to handle points outside the segment vw.
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const float t = ((p - v) * (w - v)) / l2;
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if (t <= 0) {
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return v;
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} else if (t >= 1) {
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return w;
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} else {
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return v + (w - v)*t;
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}
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}
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@ -75,11 +75,6 @@ private:
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*/
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float get_margin() const { return _fence.get_margin() * 100.0f; }
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/*
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* returns the point closest to p on the line segment (v,w)
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*/
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Vector2f closest_point(Vector2f p, Vector2f v, Vector2f w) const;
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// external references
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const AP_AHRS& _ahrs;
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const AP_InertialNav& _inav;
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