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AP_OADijkstra: redo visgraphs if polyfence is changed

This commit is contained in:
Randy Mackay 2019-07-11 17:46:51 +09:00
parent edc8401457
commit 84ba6e859c
1 changed files with 2 additions and 2 deletions
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4
libraries/AC_Avoidance/AP_OADijkstra.cpp
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@ -47,14 +47,14 @@ AP_OADijkstra::AP_OADijkstra_State AP_OADijkstra::update(const Location &current
// check for fence updates
if (check_polygon_fence_updated()) {
_polyfence_with_margin_ok = false;
_polyfence_visgraph_ok = false;
_shortest_path_ok = false;
}
// create inner polygon fence
if (!_polyfence_with_margin_ok) {
_polyfence_with_margin_ok = create_polygon_fence_with_margin(_polyfence_margin * 100.0f);
if (!_polyfence_with_margin_ok) {
_polyfence_visgraph_ok = false;
_shortest_path_ok = false;
return DIJKSTRA_STATE_ERROR;
}
}