#pragma once #include <AP_Common/AP_Common.h> #include <AP_Math/AP_Math.h> class AC_PolyFence_loader { public: // maximum number of fence points we can store in eeprom uint8_t max_points() const; // create buffer to hold copy of eeprom points in RAM // returns nullptr if not enough memory can be allocated void* create_point_array(uint8_t element_size); // load boundary point from eeprom, returns true on successful load bool load_point_from_eeprom(uint16_t i, Vector2l& point); // save a fence point to eeprom, returns true on successful save bool save_point_to_eeprom(uint16_t i, const Vector2l& point); // validate array of boundary points (expressed as either floats or long ints) // returns true if boundary is valid template <typename T> bool boundary_valid(uint16_t num_points, const Vector2<T>* points) const; // check if a location (expressed as either floats or long ints) is within the boundary // returns true if location is outside the boundary template <typename T> bool boundary_breached(const Vector2<T>& location, uint16_t num_points, const Vector2<T>* points) const; };