Commit Graph

12 Commits

Author SHA1 Message Date
Randy Mackay b46cc623a0 AC_Avoidance: adjust_velocity_polygon accepts body-frame points 2016-11-27 15:05:42 +09:00
Randy Mackay 55d79d9a32 AC_Avoidance: proximity sensor method re-uses polygon fence boundary code 2016-11-27 15:05:41 +09:00
Randy Mackay cdee68174d AC_Avoidance: rename adjust_velocity_polygon_fence 2016-11-27 15:05:39 +09:00
Randy Mackay 79280036de AC_Avoidance: rename adjust_velocity_circle_fence method 2016-11-27 15:05:38 +09:00
Randy Mackay 40c4e75ae7 AC_Avoidance: remove unnecessary const float arguments 2016-11-27 15:05:36 +09:00
Randy Mackay 4808664fb6 AC_Avoidance: allow use of AP_Proximity 2016-10-13 20:21:07 +09:00
Randy Mackay f27cf8d388 AC_Avoidance: add adjust_velocity that accepts Vector3f for convenience
We should actually modify this function to scale back the z axis in order to avoid breaching the vertical fence.  Currently breaching the vertical fence is handled within the position controller which is inconsistent.
2016-07-25 20:24:37 +09:00
Peter Barker 692ff22453 AC_Avoid: move closest_point to AP_Math 2016-07-25 20:24:37 +09:00
Daniel Ricketts 865aad7598 AC_Avoid: add support for stopping at polygon fence 2016-06-25 15:55:55 +09:00
Randy Mackay c6f9889a25 AC_Avoid: constify get_max_speed
Also get_stopping_distance and get_margin
2016-06-25 15:55:55 +09:00
Randy Mackay a427768087 AC_Avoidance: reduce maximum acceleration to 1m/s/s
This makes the vehicle slow very gently as it approaches the edge of the fence
2016-06-22 11:38:15 +09:00
Daniel Ricketts ff7bc7c0cb AC_Avoidance: add library to stop at circular fence 2016-06-22 11:38:15 +09:00