mirror of https://github.com/ArduPilot/ardupilot
48 lines
1.4 KiB
C++
48 lines
1.4 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "AC_Avoidance_config.h"
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#if AP_OAPATHPLANNER_ENABLED
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#include "AP_OAVisGraph.h"
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// constructor initialises expanding array to use 20 elements per chunk
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AP_OAVisGraph::AP_OAVisGraph() :
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_items(20)
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{
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}
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// add item to visiblity graph, returns true on success, false if graph is full
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bool AP_OAVisGraph::add_item(const OAItemID &id1, const OAItemID &id2, float distance_cm)
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{
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// no more than 65k items
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if (_num_items == UINT16_MAX) {
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return false;
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}
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// ensure there is space in the array
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if (!_items.expand_to_hold(_num_items+1)) {
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return false;
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}
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// add item
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_items[_num_items] = {id1, id2, distance_cm};
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_num_items++;
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return true;
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}
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#endif // AP_OAPATHPLANNER_ENABLED
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