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AC_Fence: add is_polygon_valid accessor

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Randy Mackay 2019-05-13 10:59:00 +09:00
parent 9c3812e384
commit 0f6e61bc33
1 changed files with 4 additions and 0 deletions
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4
libraries/AC_Fence/AC_Fence.h
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@ -99,7 +99,11 @@ public:
/// polygon related methods /// polygon related methods
/// ///
/// returns true if polygon fence is valid (i.e. has at least 3 sides)
bool is_polygon_valid() const { return _boundary_valid; }
/// returns pointer to array of polygon points and num_points is filled in with the total number /// returns pointer to array of polygon points and num_points is filled in with the total number
/// points are offsets from EKF origin in NE frame
Vector2f* get_boundary_points(uint16_t& num_points) const; Vector2f* get_boundary_points(uint16_t& num_points) const;
/// returns true if we've breached the polygon boundary. simple passthrough to underlying _poly_loader object /// returns true if we've breached the polygon boundary. simple passthrough to underlying _poly_loader object