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AP_Math: added Polygon_complete() function

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used to veryify user supplied boundaries
This commit is contained in:
Andrew Tridgell 2011-12-15 14:42:34 +11:00
parent cd9fb3c47a
commit f4bd3cb5a2
3 changed files with 24 additions and 1 deletions
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12
libraries/AP_Math/examples/polygon/polygon.pde
View File

@ -55,6 +55,16 @@ void setup(void)
Serial.begin(115200); Serial.begin(115200);
Serial.println("polygon unit tests\n"); Serial.println("polygon unit tests\n");
if (!Polygon_complete(OBC_boundary, ARRAY_LENGTH(OBC_boundary))) {
Serial.println("OBC boundary is not complete!");
all_passed = false;
}
if (Polygon_complete(OBC_boundary, ARRAY_LENGTH(OBC_boundary)-1)) {
Serial.println("Polygon_complete test failed");
all_passed = false;
}
for (i=0; i<ARRAY_LENGTH(test_points); i++) { for (i=0; i<ARRAY_LENGTH(test_points); i++) {
bool result; bool result;
result = Polygon_outside(&test_points[i].point, OBC_boundary, ARRAY_LENGTH(OBC_boundary)); result = Polygon_outside(&test_points[i].point, OBC_boundary, ARRAY_LENGTH(OBC_boundary));
@ -79,7 +89,7 @@ void setup(void)
} }
} }
} }
Serial.printf("%u usec/call\n", (micros() - start_time)/(count*ARRAY_LENGTH(test_points))); Serial.printf("%u usec/call\n", (unsigned)((micros() - start_time)/(count*ARRAY_LENGTH(test_points))));
Serial.println(all_passed?"ALL TESTS PASSED":"TEST FAILED"); Serial.println(all_passed?"ALL TESTS PASSED":"TEST FAILED");
} }

12
libraries/AP_Math/polygon.cpp
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@ -76,3 +76,15 @@ bool Polygon_outside(const Vector2f *P, const Vector2f *V, unsigned n)
} }
return wn == 0; return wn == 0;
} }
/*
check if a polygon is complete.
We consider a polygon to be complete if we have at least 4 points,
and the first point is the same as the last point. That is the
minimum requirement for the Polygon_outside function to work
*/
bool Polygon_complete(const Vector2f *V, unsigned n)
{
return (n >= 4 && V[n-1].x == V[0].x && V[n-1].y == V[0].y);
}

1
libraries/AP_Math/polygon.h
View File

@ -18,4 +18,5 @@
*/ */
bool Polygon_outside(const Vector2f *P, const Vector2f *V, unsigned n); bool Polygon_outside(const Vector2f *P, const Vector2f *V, unsigned n);
bool Polygon_complete(const Vector2f *V, unsigned n);