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AC_Avoidance: add static create method

This commit is contained in:
Lucas De Marchi 2017-08-29 16:36:07 -07:00 committed by Francisco Ferreira
parent b05610870c
commit e68c5a4668
1 changed files with 13 additions and 2 deletions
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15
libraries/AC_Avoidance/AC_Avoid.h
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@ -29,9 +29,19 @@
*/ */
class AC_Avoid { class AC_Avoid {
public: public:
static AC_Avoid create(const AP_AHRS& ahrs,
const AP_InertialNav& inav,
const AC_Fence& fence,
const AP_Proximity& proximity,
const AP_Beacon* beacon = nullptr) {
return AC_Avoid{ahrs, inav, fence, proximity, beacon};
}
/// Constructor constexpr AC_Avoid(AC_Avoid &&other) = default;
AC_Avoid(const AP_AHRS& ahrs, const AP_InertialNav& inav, const AC_Fence& fence, const AP_Proximity& proximity, const AP_Beacon* beacon = nullptr);
/* Do not allow copies */
AC_Avoid(const AC_Avoid &other) = delete;
AC_Avoid &operator=(const AC_Avoid&) = delete;
/* /*
* Adjusts the desired velocity so that the vehicle can stop * Adjusts the desired velocity so that the vehicle can stop
@ -56,6 +66,7 @@ public:
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
private: private:
AC_Avoid(const AP_AHRS& ahrs, const AP_InertialNav& inav, const AC_Fence& fence, const AP_Proximity& proximity, const AP_Beacon* beacon = nullptr);
/* /*
* Adjusts the desired velocity for the circular fence. * Adjusts the desired velocity for the circular fence.