ardupilot/libraries/AC_Avoidance/AP_OAVisGraph.cpp

37 lines
1.2 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_OAVisGraph.h"
// constructor initialises expanding array to use 20 elements per chunk
AP_OAVisGraph::AP_OAVisGraph() :
_items(20)
{
}
// add item to visiblity graph, returns true on success, false if graph is full
bool AP_OAVisGraph::add_item(const OAItemID &id1, const OAItemID &id2, float distance_cm)
{
// ensure there is space in the array
if (!_items.expand_to_hold(_num_items+1)) {
return false;
}
// add item
_items[_num_items] = {id1, id2, distance_cm};
_num_items++;
return true;
}