implements both bendy ruler and dijkstra's algorithms
includes many changes after peer review including:
removed unused airspeed and turn-rate arguments
renamed constants to start with OA_BENDYRULER_
removed fence_ptr check from update function that could cause bendy ruler to fail when fences were disabled
AC_Fence's fence-margin is not used and instead we always use a hard-coded 2m limit
vehicle's heading is used instead of ground-course when speed is below 0.2m/s
static assert added to ensure OA_BENDYRULER_BERAING_INC constant is defined correctly
replace BAD_MARGIN/GOOD_MARGIN with FLT_MAX/-FLT_MAX
use calc_margin_from_xxx function's return values
calc-margin-from-proximity-sensors fails if copy-locations fails
remove debug
remove unused singletons
and other changes including:
integrate fence rename to get_boundary_points
adapt to fence return point and duplicate final point from not being returned
create bendyrule and dijkstra objects on init
add pre-arm-check to ensure they've been created successfully
Dijkstra's detects polygon fence changes
minor fix to Dijkstra's return path
allow update_visgraph to accept 0,0 as extra point
and these fixes from peer reviews:
remove unused methods
add note about dangers of operator[]
reduce memory consuption of ShortPathNode
remove unused methods including print_all_nodes and print_shortest_path
replace OA_DIJKSTRA_POLYGON_VISGRAPH_INFINITY_CM with FLT_MAX
update method gets check that ekf origin has been set
fix indexing bug in inner fence creation
fix whitespace error
find-node-from-id uses switch statement instead of 3 IF statements
update_visgraph comments added to clarify usage of extra_position argument
find-closest-node-idx always uses node_index instead of int16_t
static assert that OA_DIJKSTRA_POLYGON_FENCE_PTS < 255
some looping style changes
AP_OABendyRuler: fix to ground course calculation
AP_OAPathPlanner: pre_arm_check writes to caller's buffer
remove unnecessary hal and stdio.h includes
rename fence_ptr local variable to fence
add sanity check to OADijkstra's set_fence_margin
add sanity check to OABendyRuler's set_config
BendyRuler's test_bearing local constants changed to be float constants
BendyRuler's ahrs_home made local constant
BendyRuler's proximity margin calcs lose margin_found local variable (use FLT_MAX instead)
BendyRuler's calc-margin-from-circular-fence performance improvement by removing one sqrt
AP_OABendyRuler: fix probe directions to be 5deg offsets from dir to destination
AP_OADijkstra: fixes after peer review
remove unnecesary initialisations
replace safe_sqrt(sq()) with length()
remove unnecessary block
comment fixes
AP_OAPathPlanner: add logging of final an intermediate location
Randy Mackay
Peter Barker