ardupilot/libraries/AC_Fence/AC_PolyFence_loader.h

39 lines
1.4 KiB
C++

#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)
// contains_return_point should be true for plane which stores the return point as the first point in the array
// returns true if boundary is valid
template <typename T>
bool boundary_valid(uint16_t num_points, const Vector2<T>* points, bool contains_return_point) const;
// check if a location (expressed as either floats or long ints) is within the boundary
// contains_return_point should be true for plane which stores the return point as the first point in the array
// 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, bool contains_return_point) const;
};