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ardupilot/libraries/AC_Avoidance/AP_OABendyRuler.cpp

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/*
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_OABendyRuler.h"
#include <AC_Avoidance/AP_OADatabase.h>
#include <AC_Fence/AC_Fence.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Logger/AP_Logger.h>
// parameter defaults
const float OA_BENDYRULER_LOOKAHEAD_DEFAULT = 15.0f;
const float OA_BENDYRULER_RATIO_DEFAULT = 1.5f;
const int16_t OA_BENDYRULER_ANGLE_DEFAULT = 75;
const int16_t OA_BENDYRULER_TYPE_DEFAULT = 1;
const int16_t OA_BENDYRULER_BEARING_INC_XY = 5; // check every 5 degrees around vehicle
const int16_t OA_BENDYRULER_BEARING_INC_VERTICAL = 90;
const float OA_BENDYRULER_LOOKAHEAD_STEP2_RATIO = 1.0f; // step2's lookahead length as a ratio of step1's lookahead length
const float OA_BENDYRULER_LOOKAHEAD_STEP2_MIN = 2.0f; // step2 checks at least this many meters past step1's location
const float OA_BENDYRULER_LOOKAHEAD_PAST_DEST = 2.0f; // lookahead length will be at least this many meters past the destination
const float OA_BENDYRULER_LOW_SPEED_SQUARED = (0.2f * 0.2f); // when ground course is below this speed squared, vehicle's heading will be used
#define VERTICAL_ENABLED APM_BUILD_COPTER_OR_HELI
const AP_Param::GroupInfo AP_OABendyRuler::var_info[] = {
// @Param: LOOKAHEAD
// @DisplayName: Object Avoidance look ahead distance maximum
// @Description: Object Avoidance will look this many meters ahead of vehicle
// @Units: m
// @Range: 1 100
// @Increment: 1
// @User: Standard
AP_GROUPINFO("LOOKAHEAD", 1, AP_OABendyRuler, _lookahead, OA_BENDYRULER_LOOKAHEAD_DEFAULT),
// @Param: CONT_RATIO
// @DisplayName: Obstacle Avoidance margin ratio for BendyRuler to change bearing significantly
// @Description: BendyRuler will avoid changing bearing unless ratio of previous margin from obstacle (or fence) to present calculated margin is atleast this much.
// @Range: 1.1 2
// @Increment: 0.1
// @User: Standard
AP_GROUPINFO("CONT_RATIO", 2, AP_OABendyRuler, _bendy_ratio, OA_BENDYRULER_RATIO_DEFAULT),
// @Param: CONT_ANGLE
// @DisplayName: BendyRuler's bearing change resistance threshold angle
// @Description: BendyRuler will resist changing current bearing if the change in bearing is over this angle
// @Range: 20 180
// @Increment: 5
// @User: Standard
AP_GROUPINFO("CONT_ANGLE", 3, AP_OABendyRuler, _bendy_angle, OA_BENDYRULER_ANGLE_DEFAULT),
// @Param{Copter}: TYPE
// @DisplayName: Type of BendyRuler
// @Description: BendyRuler will search for clear path along the direction defined by this parameter
// @Values: 1:Horizontal search, 2:Vertical search
// @User: Standard
AP_GROUPINFO_FRAME("TYPE", 4, AP_OABendyRuler, _bendy_type, OA_BENDYRULER_TYPE_DEFAULT, AP_PARAM_FRAME_COPTER | AP_PARAM_FRAME_HELI | AP_PARAM_FRAME_TRICOPTER),
AP_GROUPEND
};
AP_OABendyRuler::AP_OABendyRuler()
{
AP_Param::setup_object_defaults(this, var_info);
_bearing_prev = FLT_MAX;
}
// run background task to find best path and update avoidance_results
// returns true and updates origin_new and destination_new if a best path has been found
// bendy_type is set to the type of BendyRuler used
bool AP_OABendyRuler::update(const Location& current_loc, const Location& destination, const Vector2f &ground_speed_vec, Location &origin_new, Location &destination_new, OABendyType &bendy_type, bool proximity_only)
{
// bendy ruler always sets origin to current_loc
origin_new = current_loc;
// init bendy_type returned
bendy_type = OABendyType::OA_BENDY_DISABLED;
// calculate bearing and distance to final destination
const float bearing_to_dest = current_loc.get_bearing_to(destination) * 0.01f;
const float distance_to_dest = current_loc.get_distance(destination);
// make sure user has set a meaningful value for _lookahead
_lookahead.set(MAX(_lookahead,1.0f));
// lookahead distance is adjusted dynamically based on avoidance results
_current_lookahead = constrain_float(_current_lookahead, _lookahead * 0.5f, _lookahead);
// calculate lookahead dist and time for step1. distance can be slightly longer than
// the distance to the destination to allow room to dodge after reaching the destination
const float lookahead_step1_dist = MIN(_current_lookahead, distance_to_dest + OA_BENDYRULER_LOOKAHEAD_PAST_DEST);
// calculate lookahead dist for step2
const float lookahead_step2_dist = _current_lookahead * OA_BENDYRULER_LOOKAHEAD_STEP2_RATIO;
// get ground course
float ground_course_deg;
if (ground_speed_vec.length_squared() < OA_BENDYRULER_LOW_SPEED_SQUARED) {
// with zero ground speed use vehicle's heading
ground_course_deg = AP::ahrs().yaw_sensor * 0.01f;
} else {
ground_course_deg = degrees(ground_speed_vec.angle());
}
bool ret;
switch (get_type()) {
case OABendyType::OA_BENDY_VERTICAL:
#if VERTICAL_ENABLED
ret = search_vertical_path(current_loc, destination, destination_new, lookahead_step1_dist, lookahead_step2_dist, bearing_to_dest, distance_to_dest, proximity_only);
bendy_type = OABendyType::OA_BENDY_VERTICAL;
break;
#endif
case OABendyType::OA_BENDY_HORIZONTAL:
default:
ret = search_xy_path(current_loc, destination, ground_course_deg, destination_new, lookahead_step1_dist, lookahead_step2_dist, bearing_to_dest, distance_to_dest, proximity_only);
bendy_type = OABendyType::OA_BENDY_HORIZONTAL;
}
return ret;
}
// Search for path in the horizontal directions
bool AP_OABendyRuler::search_xy_path(const Location& current_loc, const Location& destination, float ground_course_deg, Location &destination_new, float lookahead_step1_dist, float lookahead_step2_dist, float bearing_to_dest, float distance_to_dest, bool proximity_only)
{
// check OA_BEARING_INC definition allows checking in all directions
static_assert(360 % OA_BENDYRULER_BEARING_INC_XY == 0, "check 360 is a multiple of OA_BEARING_INC");
// search in OA_BENDYRULER_BEARING_INC degree increments around the vehicle alternating left
// and right. For each direction check if vehicle would avoid all obstacles
float best_bearing = bearing_to_dest;
float best_bearing_margin = -FLT_MAX;
bool have_best_bearing = false;
float best_margin = -FLT_MAX;
float best_margin_bearing = best_bearing;
for (uint8_t i = 0; i <= (170 / OA_BENDYRULER_BEARING_INC_XY); i++) {
for (uint8_t bdir = 0; bdir <= 1; bdir++) {
// skip duplicate check of bearing straight towards destination
if ((i==0) && (bdir > 0)) {
continue;
}
// bearing that we are probing
const float bearing_delta = i * OA_BENDYRULER_BEARING_INC_XY * (bdir == 0 ? -1.0f : 1.0f);
const float bearing_test = wrap_180(bearing_to_dest + bearing_delta);
// ToDo: add effective groundspeed calculations using airspeed
// ToDo: add prediction of vehicle's position change as part of turn to desired heading
// test location is projected from current location at test bearing
Location test_loc = current_loc;
test_loc.offset_bearing(bearing_test, lookahead_step1_dist);
// calculate margin from obstacles for this scenario
float margin = calc_avoidance_margin(current_loc, test_loc, proximity_only);
if (margin > best_margin) {
best_margin_bearing = bearing_test;
best_margin = margin;
}
if (margin > _margin_max) {
// this bearing avoids obstacles out to the lookahead_step1_dist
// now check in there is a clear path in three directions towards the destination
if (!have_best_bearing) {
best_bearing = bearing_test;
best_bearing_margin = margin;
have_best_bearing = true;
} else if (fabsf(wrap_180(ground_course_deg - bearing_test)) <
fabsf(wrap_180(ground_course_deg - best_bearing))) {
// replace bearing with one that is closer to our current ground course
best_bearing = bearing_test;
best_bearing_margin = margin;
}
// perform second stage test in three directions looking for obstacles
const float test_bearings[] { 0.0f, 45.0f, -45.0f };
const float bearing_to_dest2 = test_loc.get_bearing_to(destination) * 0.01f;
float distance2 = constrain_float(lookahead_step2_dist, OA_BENDYRULER_LOOKAHEAD_STEP2_MIN, test_loc.get_distance(destination));
for (uint8_t j = 0; j < ARRAY_SIZE(test_bearings); j++) {
float bearing_test2 = wrap_180(bearing_to_dest2 + test_bearings[j]);
Location test_loc2 = test_loc;
test_loc2.offset_bearing(bearing_test2, distance2);
// calculate minimum margin to fence and obstacles for this scenario
float margin2 = calc_avoidance_margin(test_loc, test_loc2, proximity_only);
if (margin2 > _margin_max) {
// if the chosen direction is directly towards the destination avoidance can be turned off
// i == 0 && j == 0 implies no deviation from bearing to destination
const bool active = (i != 0 || j != 0);
float final_bearing = bearing_test;
float final_margin = margin;
// check if we need ignore test_bearing and continue on previous bearing
const bool ignore_bearing_change = resist_bearing_change(destination, current_loc, active, bearing_test, lookahead_step1_dist, margin, _destination_prev,_bearing_prev, final_bearing, final_margin, proximity_only);
// all good, now project in the chosen direction by the full distance
destination_new = current_loc;
destination_new.offset_bearing(final_bearing, MIN(distance_to_dest, lookahead_step1_dist));
_current_lookahead = MIN(_lookahead, _current_lookahead * 1.1f);
Write_OABendyRuler((uint8_t)OABendyType::OA_BENDY_HORIZONTAL, active, bearing_to_dest, 0.0f, ignore_bearing_change, final_margin, destination, destination_new);
return active;
}
}
}
}
}
float chosen_bearing;
float chosen_distance;
if (have_best_bearing) {
// none of the directions tested were OK for 2-step checks. Choose the direction
// that was best for the first step
chosen_bearing = best_bearing;
chosen_distance = MAX(lookahead_step1_dist + MIN(best_bearing_margin, 0), 0);
_current_lookahead = MIN(_lookahead, _current_lookahead * 1.05f);
} else {
// none of the possible paths had a positive margin. Choose
// the one with the highest margin
chosen_bearing = best_margin_bearing;
chosen_distance = MAX(lookahead_step1_dist + MIN(best_margin, 0), 0);
_current_lookahead = MAX(_lookahead * 0.5f, _current_lookahead * 0.9f);
}
// calculate new target based on best effort
destination_new = current_loc;
destination_new.offset_bearing(chosen_bearing, chosen_distance);
// log results
Write_OABendyRuler((uint8_t)OABendyType::OA_BENDY_HORIZONTAL, true, chosen_bearing, 0.0f, false, best_margin, destination, destination_new);
return true;
}
// Search for path in the vertical directions
bool AP_OABendyRuler::search_vertical_path(const Location &current_loc, const Location &destination, Location &destination_new, float lookahead_step1_dist, float lookahead_step2_dist, float bearing_to_dest, float distance_to_dest, bool proximity_only)
{
// check OA_BEARING_INC_VERTICAL definition allows checking in all directions
static_assert(360 % OA_BENDYRULER_BEARING_INC_VERTICAL == 0, "check 360 is a multiple of OA_BEARING_INC_VERTICAL");
float best_pitch = 0.0f;
bool have_best_pitch = false;
float best_margin = -FLT_MAX;
float best_margin_pitch = best_pitch;
const uint8_t angular_limit = 180 / OA_BENDYRULER_BEARING_INC_VERTICAL;
for (uint8_t i = 0; i <= angular_limit; i++) {
for (uint8_t bdir = 0; bdir <= 1; bdir++) {
// skip duplicate check of bearing straight towards destination or 180 degrees behind
if (((i==0) && (bdir > 0)) || ((i == angular_limit) && (bdir > 0))) {
continue;
}
// bearing that we are probing
const float pitch_delta = i * OA_BENDYRULER_BEARING_INC_VERTICAL * (bdir == 0 ? 1.0f : -1.0f);
Location test_loc = current_loc;
test_loc.offset_bearing_and_pitch(bearing_to_dest, pitch_delta, lookahead_step1_dist);
// calculate margin from obstacles for this scenario
float margin = calc_avoidance_margin(current_loc, test_loc, proximity_only);
if (margin > best_margin) {
best_margin_pitch = pitch_delta;
best_margin = margin;
}
if (margin > _margin_max) {
// this path avoids the obstacles with the required margin, now check for the path ahead
if (!have_best_pitch) {
best_pitch = pitch_delta;
have_best_pitch = true;
}
const float test_pitch_step2[] { 0.0f, 90.0f, -90.0f, 180.0f};
float bearing_to_dest2;
if (is_equal(fabsf(pitch_delta), 90.0f)) {
bearing_to_dest2 = bearing_to_dest;
} else {
bearing_to_dest2 = test_loc.get_bearing_to(destination) * 0.01f;
}
float distance2 = constrain_float(lookahead_step2_dist, OA_BENDYRULER_LOOKAHEAD_STEP2_MIN, test_loc.get_distance(destination));
for (uint8_t j = 0; j < ARRAY_SIZE(test_pitch_step2); j++) {
float bearing_test2 = wrap_180(test_pitch_step2[j]);
Location test_loc2 = test_loc;
test_loc2.offset_bearing_and_pitch(bearing_to_dest2, bearing_test2, distance2);
// calculate minimum margin to fence and obstacles for this scenario
float margin2 = calc_avoidance_margin(test_loc, test_loc2, proximity_only);
if (margin2 > _margin_max) {
// if the chosen direction is directly towards the destination we might turn off avoidance
// i == 0 && j == 0 implies no deviation from bearing to destination
bool active = (i != 0 || j != 0);
if (!active) {
// do a sub test for proximity obstacles to confirm if we should really turn of BendyRuler
const float sub_test_pitch_step2[] {-90.0f, 90.0f};
for (uint8_t k = 0; k < ARRAY_SIZE(sub_test_pitch_step2); k++) {
Location test_loc_sub_test = test_loc;
test_loc_sub_test.offset_bearing_and_pitch(bearing_to_dest2, sub_test_pitch_step2[k], _margin_max);
float margin_sub_test = calc_avoidance_margin(test_loc, test_loc_sub_test, true);
if (margin_sub_test < _margin_max) {
// BendyRuler will remain active
active = true;
break;
}
}
}
// project in the chosen direction by the full distance
destination_new = current_loc;
destination_new.offset_bearing_and_pitch(bearing_to_dest, pitch_delta, distance_to_dest);
_current_lookahead = MIN(_lookahead, _current_lookahead * 1.1f);
Write_OABendyRuler((uint8_t)OABendyType::OA_BENDY_VERTICAL, active, bearing_to_dest, pitch_delta, false, margin, destination, destination_new);
return active;
}
}
}
}
}
float chosen_pitch;
if (have_best_pitch) {
// none of the directions tested were OK for 2-step checks. Choose the direction
// that was best for the first step
chosen_pitch = best_pitch;
_current_lookahead = MIN(_lookahead, _current_lookahead * 1.05f);
} else {
// none of the possible paths had a positive margin. Choose
// the one with the highest margin
chosen_pitch = best_margin_pitch;
_current_lookahead = MAX(_lookahead * 0.5f, _current_lookahead * 0.9f);
}
// calculate new target based on best effort
destination_new = current_loc;
destination_new.offset_bearing_and_pitch(bearing_to_dest, chosen_pitch, distance_to_dest);
// log results
Write_OABendyRuler((uint8_t)OABendyType::OA_BENDY_VERTICAL, true, bearing_to_dest, chosen_pitch,false, best_margin, destination, destination_new);
return true;
}
AP_OABendyRuler::OABendyType AP_OABendyRuler::get_type() const
{
switch (_bendy_type) {
case (uint8_t)OABendyType::OA_BENDY_VERTICAL:
#if VERTICAL_ENABLED
return OABendyType::OA_BENDY_VERTICAL;
#endif
case (uint8_t)OABendyType::OA_BENDY_HORIZONTAL:
default:
return OABendyType::OA_BENDY_HORIZONTAL;
}
// should never reach here
return OABendyType::OA_BENDY_HORIZONTAL;
}
/*
This function is called when BendyRuler has found a bearing which is obstacles free at atleast lookahead_step1_dist and then lookahead_step2_dist from the present location
In many situations, this new bearing can be either left or right of the obstacle, and BendyRuler can have a tough time deciding between the two.
It has the tendency to move the vehicle back and forth, if the margin obtained is even slightly better in the newer iteration.
Therefore, this method attempts to avoid changing direction of the vehicle by more than _bendy_angle degrees,
unless the new margin is atleast _bendy_ratio times better than the margin with previously calculated bearing.
We return true if we have resisted the change and will follow the last calculated bearing.
*/
bool AP_OABendyRuler::resist_bearing_change(const Location &destination, const Location &current_loc, bool active, float bearing_test, float lookahead_step1_dist, float margin, Location &prev_dest, float &prev_bearing, float &final_bearing, float &final_margin, bool proximity_only) const
{
bool resisted_change = false;
// see if there was a change in destination, if so, do not resist changing bearing
bool dest_change = false;
if (!destination.same_latlon_as(prev_dest)) {
dest_change = true;
prev_dest = destination;
}
// check if we need to resist the change in direction of the vehicle. If we have a clear path to destination, go there any how
if (active && !dest_change && is_positive(_bendy_ratio)) {
// check the change in bearing between freshly calculated and previous stored BendyRuler bearing
if ((fabsf(wrap_180(prev_bearing-bearing_test)) > _bendy_angle) && (!is_equal(prev_bearing,FLT_MAX))) {
// check margin in last bearing's direction
Location test_loc_previous_bearing = current_loc;
test_loc_previous_bearing.offset_bearing(wrap_180(prev_bearing), lookahead_step1_dist);
float previous_bearing_margin = calc_avoidance_margin(current_loc,test_loc_previous_bearing, proximity_only);
if (margin < (_bendy_ratio * previous_bearing_margin)) {
// don't change direction abruptly. If margin difference is not significant, follow the last direction
final_bearing = prev_bearing;
final_margin = previous_bearing_margin;
resisted_change = true;
}
}
} else {
// reset stored bearing if BendyRuler is not active or if WP has changed for unnecessary resistance to path change
prev_bearing = FLT_MAX;
}
if (!resisted_change) {
// we are not resisting the change, hence store BendyRuler's presently calculated bearing for future iterations
prev_bearing = bearing_test;
}
return resisted_change;
}
// calculate minimum distance between a segment and any obstacle
float AP_OABendyRuler::calc_avoidance_margin(const Location &start, const Location &end, bool proximity_only) const
{
float margin_min = FLT_MAX;
float latest_margin;
if (calc_margin_from_object_database(start, end, latest_margin)) {
margin_min = MIN(margin_min, latest_margin);
}
if (proximity_only) {
// only need margin from proximity data
return margin_min;
}
if (calc_margin_from_circular_fence(start, end, latest_margin)) {
margin_min = MIN(margin_min, latest_margin);
}
#if VERTICAL_ENABLED
// alt fence only is only needed in vertical avoidance
if (get_type() == OABendyType::OA_BENDY_VERTICAL) {
if (calc_margin_from_alt_fence(start, end, latest_margin)) {
margin_min = MIN(margin_min, latest_margin);
}
}
#endif
if (calc_margin_from_inclusion_and_exclusion_polygons(start, end, latest_margin)) {
margin_min = MIN(margin_min, latest_margin);
}
if (calc_margin_from_inclusion_and_exclusion_circles(start, end, latest_margin)) {
margin_min = MIN(margin_min, latest_margin);
}
// return smallest margin from any obstacle
return margin_min;
}
// calculate minimum distance between a path and the circular fence (centered on home)
// on success returns true and updates margin
bool AP_OABendyRuler::calc_margin_from_circular_fence(const Location &start, const Location &end, float &margin) const
{
#if AP_FENCE_ENABLED
// exit immediately if polygon fence is not enabled
const AC_Fence *fence = AC_Fence::get_singleton();
if (fence == nullptr) {
return false;
}
if ((fence->get_enabled_fences() & AC_FENCE_TYPE_CIRCLE) == 0) {
return false;
}
// calculate start and end point's distance from home
const Location &ahrs_home = AP::ahrs().get_home();
const float start_dist_sq = ahrs_home.get_distance_NE(start).length_squared();
const float end_dist_sq = ahrs_home.get_distance_NE(end).length_squared();
// get circular fence radius + margin
const float fence_radius_plus_margin = fence->get_radius() - fence->get_margin();
// margin is fence radius minus the longer of start or end distance
margin = fence_radius_plus_margin - sqrtf(MAX(start_dist_sq, end_dist_sq));
return true;
#else
return false;
#endif // AP_FENCE_ENABLED
}
// calculate minimum distance between a path and the altitude fence
// on success returns true and updates margin
bool AP_OABendyRuler::calc_margin_from_alt_fence(const Location &start, const Location &end, float &margin) const
{
#if AP_FENCE_ENABLED
// exit immediately if polygon fence is not enabled
const AC_Fence *fence = AC_Fence::get_singleton();
if (fence == nullptr) {
return false;
}
if ((fence->get_enabled_fences() & AC_FENCE_TYPE_ALT_MAX) == 0) {
return false;
}
int32_t alt_above_home_cm_start, alt_above_home_cm_end;
if (!start.get_alt_cm(Location::AltFrame::ABOVE_HOME, alt_above_home_cm_start)) {
return false;
}
if (!end.get_alt_cm(Location::AltFrame::ABOVE_HOME, alt_above_home_cm_end )) {
return false;
}
// safe max alt = fence alt - fence margin
const float max_fence_alt = fence->get_safe_alt_max();
const float margin_start = max_fence_alt - alt_above_home_cm_start * 0.01f;
const float margin_end = max_fence_alt - alt_above_home_cm_end * 0.01f;
// margin is minimum distance to fence from either start or end location
margin = MIN(margin_start,margin_end);
return true;
#else
return false;
#endif // AP_FENCE_ENABLED
}
// calculate minimum distance between a path and all inclusion and exclusion polygons
// on success returns true and updates margin
bool AP_OABendyRuler::calc_margin_from_inclusion_and_exclusion_polygons(const Location &start, const Location &end, float &margin) const
{
#if AP_FENCE_ENABLED
const AC_Fence *fence = AC_Fence::get_singleton();
if (fence == nullptr) {
return false;
}
// exclusion polygons enabled along with polygon fences
if ((fence->get_enabled_fences() & AC_FENCE_TYPE_POLYGON) == 0) {
return false;
}
// return immediately if no inclusion nor exclusion polygons
const uint8_t num_inclusion_polygons = fence->polyfence().get_inclusion_polygon_count();
const uint8_t num_exclusion_polygons = fence->polyfence().get_exclusion_polygon_count();
if ((num_inclusion_polygons == 0) && (num_exclusion_polygons == 0)) {
return false;
}
// convert start and end to offsets from EKF origin
Vector2f start_NE, end_NE;
if (!start.get_vector_xy_from_origin_NE(start_NE) || !end.get_vector_xy_from_origin_NE(end_NE)) {
return false;
}
// get fence margin
const float fence_margin = fence->get_margin();
// iterate through inclusion polygons and calculate minimum margin
bool margin_updated = false;
for (uint8_t i = 0; i < num_inclusion_polygons; i++) {
uint16_t num_points;
const Vector2f* boundary = fence->polyfence().get_inclusion_polygon(i, num_points);
// if outside the fence margin is the closest distance but with negative sign
const float sign = Polygon_outside(start_NE, boundary, num_points) ? -1.0f : 1.0f;
// calculate min distance (in meters) from line to polygon
float margin_new = (sign * Polygon_closest_distance_line(boundary, num_points, start_NE, end_NE) * 0.01f) - fence_margin;
if (!margin_updated || (margin_new < margin)) {
margin_updated = true;
margin = margin_new;
}
}
// iterate through exclusion polygons and calculate minimum margin
for (uint8_t i = 0; i < num_exclusion_polygons; i++) {
uint16_t num_points;
const Vector2f* boundary = fence->polyfence().get_exclusion_polygon(i, num_points);
// if start is inside the polygon the margin's sign is reversed
const float sign = Polygon_outside(start_NE, boundary, num_points) ? 1.0f : -1.0f;
// calculate min distance (in meters) from line to polygon
float margin_new = (sign * Polygon_closest_distance_line(boundary, num_points, start_NE, end_NE) * 0.01f) - fence_margin;
if (!margin_updated || (margin_new < margin)) {
margin_updated = true;
margin = margin_new;
}
}
return margin_updated;
#else
return false;
#endif // AP_FENCE_ENABLED
}
// calculate minimum distance between a path and all inclusion and exclusion circles
// on success returns true and updates margin
bool AP_OABendyRuler::calc_margin_from_inclusion_and_exclusion_circles(const Location &start, const Location &end, float &margin) const
{
#if AP_FENCE_ENABLED
// exit immediately if fence is not enabled
const AC_Fence *fence = AC_Fence::get_singleton();
if (fence == nullptr) {
return false;
}
// inclusion/exclusion circles enabled along with polygon fences
if ((fence->get_enabled_fences() & AC_FENCE_TYPE_POLYGON) == 0) {
return false;
}
// return immediately if no inclusion nor exclusion circles
const uint8_t num_inclusion_circles = fence->polyfence().get_inclusion_circle_count();
const uint8_t num_exclusion_circles = fence->polyfence().get_exclusion_circle_count();
if ((num_inclusion_circles == 0) && (num_exclusion_circles == 0)) {
return false;
}
// convert start and end to offsets from EKF origin
Vector2f start_NE, end_NE;
if (!start.get_vector_xy_from_origin_NE(start_NE) || !end.get_vector_xy_from_origin_NE(end_NE)) {
return false;
}
// get fence margin
const float fence_margin = fence->get_margin();
// iterate through inclusion circles and calculate minimum margin
bool margin_updated = false;
for (uint8_t i = 0; i < num_inclusion_circles; i++) {
Vector2f center_pos_cm;
float radius;
if (fence->polyfence().get_inclusion_circle(i, center_pos_cm, radius)) {
// calculate start and ends distance from the center of the circle
const float start_dist_sq = (start_NE - center_pos_cm).length_squared();
const float end_dist_sq = (end_NE - center_pos_cm).length_squared();
// margin is fence radius minus the longer of start or end distance
const float margin_new = (radius + fence_margin) - (sqrtf(MAX(start_dist_sq, end_dist_sq)) * 0.01f);
// update margin with lowest value so far
if (!margin_updated || (margin_new < margin)) {
margin_updated = true;
margin = margin_new;
}
}
}
// iterate through exclusion circles and calculate minimum margin
for (uint8_t i = 0; i < num_exclusion_circles; i++) {
Vector2f center_pos_cm;
float radius;
if (fence->polyfence().get_exclusion_circle(i, center_pos_cm, radius)) {
// first calculate distance between circle's center and segment
const float dist_cm = Vector2f::closest_distance_between_line_and_point(start_NE, end_NE, center_pos_cm);
// margin is distance to the center minus the radius
const float margin_new = (dist_cm * 0.01f) - (radius + fence_margin);
// update margin with lowest value so far
if (!margin_updated || (margin_new < margin)) {
margin_updated = true;
margin = margin_new;
}
}
}
return margin_updated;
#else
return false;
#endif // AP_FENCE_ENABLED
}
// calculate minimum distance between a path and proximity sensor obstacles
// on success returns true and updates margin
bool AP_OABendyRuler::calc_margin_from_object_database(const Location &start, const Location &end, float &margin) const
{
// exit immediately if db is empty
AP_OADatabase *oaDb = AP::oadatabase();
if (oaDb == nullptr || !oaDb->healthy()) {
return false;
}
// convert start and end to offsets (in cm) from EKF origin
Vector3f start_NEU,end_NEU;
if (!start.get_vector_from_origin_NEU(start_NEU) || !end.get_vector_from_origin_NEU(end_NEU)) {
return false;
}
if (start_NEU == end_NEU) {
return false;
}
// check each obstacle's distance from segment
float smallest_margin = FLT_MAX;
for (uint16_t i=0; i<oaDb->database_count(); i++) {
const AP_OADatabase::OA_DbItem& item = oaDb->get_item(i);
const Vector3f point_cm = item.pos * 100.0f;
// margin is distance between line segment and obstacle minus obstacle's radius
const float m = Vector3f::closest_distance_between_line_and_point(start_NEU, end_NEU, point_cm) * 0.01f - item.radius;
if (m < smallest_margin) {
smallest_margin = m;
}
}
// return smallest margin
if (smallest_margin < FLT_MAX) {
margin = smallest_margin;
return true;
}
return false;
}
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