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AP_OABendyRuler: cope with polyfence holding boundary points

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Peter Barker 2019-06-12 11:28:23 +10:00 committed by Randy Mackay
parent 3a7f1b882e
commit dfca32a2af
1 changed files with 2 additions and 2 deletions
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4
libraries/AC_Avoidance/AP_OABendyRuler.cpp
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@ -206,13 +206,13 @@ bool AP_OABendyRuler::calc_margin_from_polygon_fence(const Location &start, cons
if (fence == nullptr) { if (fence == nullptr) {
return false; return false;
} }
if (((fence->get_enabled_fences() & AC_FENCE_TYPE_POLYGON) == 0) || !fence->is_polygon_valid()) { if (((fence->get_enabled_fences() & AC_FENCE_TYPE_POLYGON) == 0) || !fence->polyfence_const().valid_const()) {
return false; return false;
} }
// get polygon boundary // get polygon boundary
uint16_t num_points; uint16_t num_points;
const Vector2f* boundary = fence->get_boundary_points(num_points); const Vector2f* boundary = fence->polyfence_const().get_boundary_points(num_points);
if (num_points < 3) { if (num_points < 3) {
// this should have already been checked by is_polygon_valid() but just in case // this should have already been checked by is_polygon_valid() but just in case
return false; return false;