mirror of https://github.com/ArduPilot/ardupilot
65 lines
3.4 KiB
C++
65 lines
3.4 KiB
C++
#pragma once
|
|
|
|
#include <AP_Common/AP_Common.h>
|
|
#include <AP_Common/Location.h>
|
|
#include <AP_Math/AP_Math.h>
|
|
#include <AP_HAL/AP_HAL.h>
|
|
|
|
/*
|
|
* BendyRuler avoidance algorithm for avoiding the polygon and circular fence and dynamic objects detected by the proximity sensor
|
|
*/
|
|
class AP_OABendyRuler {
|
|
public:
|
|
AP_OABendyRuler();
|
|
|
|
/* Do not allow copies */
|
|
AP_OABendyRuler(const AP_OABendyRuler &other) = delete;
|
|
AP_OABendyRuler &operator=(const AP_OABendyRuler&) = delete;
|
|
|
|
// send configuration info stored in front end parameters
|
|
void set_config(float margin_max) { _margin_max = MAX(margin_max, 0.0f); }
|
|
|
|
// run background task to find best path and update avoidance_results
|
|
// returns true and populates origin_new and destination_new if OA is required. returns false if OA is not required
|
|
bool update(const Location& current_loc, const Location& destination, const Vector2f &ground_speed_vec, Location &origin_new, Location &destination_new);
|
|
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
private:
|
|
|
|
// calculate minimum distance between a path and any obstacle
|
|
float calc_avoidance_margin(const Location &start, const Location &end) const;
|
|
|
|
// determine if BendyRuler should accept the new bearing or try and resist it. Returns true if bearing is not changed
|
|
bool resist_bearing_change(const Location &destination, const Location ¤t_loc, bool active, float bearing_test, float lookahead_step1_dist, float margin, Location &prev_dest, float &prev_bearing, float &final_bearing, float &final_margin) const;
|
|
|
|
// calculate minimum distance between a path and the circular fence (centered on home)
|
|
// on success returns true and updates margin
|
|
bool calc_margin_from_circular_fence(const Location &start, const Location &end, float &margin) const;
|
|
|
|
// calculate minimum distance between a path and all inclusion and exclusion polygons
|
|
// on success returns true and updates margin
|
|
bool calc_margin_from_inclusion_and_exclusion_polygons(const Location &start, const Location &end, float &margin) const;
|
|
|
|
// calculate minimum distance between a path and all inclusion and exclusion circles
|
|
// on success returns true and updates margin
|
|
bool calc_margin_from_inclusion_and_exclusion_circles(const Location &start, const Location &end, float &margin) const;
|
|
|
|
// calculate minimum distance between a path and proximity sensor obstacles
|
|
// on success returns true and updates margin
|
|
bool calc_margin_from_object_database(const Location &start, const Location &end, float &margin) const;
|
|
|
|
// OA common parameters
|
|
float _margin_max; // object avoidance will ignore objects more than this many meters from vehicle
|
|
|
|
// BendyRuler parameters
|
|
AP_Float _lookahead; // object avoidance will look this many meters ahead of vehicle
|
|
AP_Float _bendy_ratio; // object avoidance will avoid major directional change if change in margin ratio is less than this param
|
|
AP_Int16 _bendy_angle; // object avoidance will try avoding change in direction over this much angle
|
|
|
|
// internal variables used by background thread
|
|
float _current_lookahead; // distance (in meters) ahead of the vehicle we are looking for obstacles
|
|
float _bearing_prev; // stored bearing in degrees
|
|
Location _destination_prev; // previous destination, to check if there has been a change in destination
|
|
};
|