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AC_Fence: Remove unused duplicate methods

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The Vector2l methods completely duplicate the code of the Vector2f
methods, but aren't used anywhere. They are therefore subject to bitrot
and aren't adding any value. (Also shrinks the build by 8 bytes for some
reason, given that it's unused code I expected to see no difference in
binary size).
This commit is contained in:
Michael du Breuil 2017-10-17 13:07:29 -07:00 committed by Randy Mackay
parent e0d383c986
commit 983a330cd5
2 changed files with 17 additions and 47 deletions
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55
libraries/AC_Fence/AC_PolyFence_loader.cpp
View File

@ -56,35 +56,8 @@ bool AC_PolyFence_loader::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
bool AC_PolyFence_loader::boundary_valid(uint16_t num_points, const Vector2l* points, bool contains_return_point) const
{
// exit immediate if no points
if (points == nullptr) {
return false;
}
// start from 2nd point if boundary contains return point (as first point)
uint8_t start_num = contains_return_point ? 1 : 0;
// a boundary requires at least 4 point (a triangle and last point equals first)
if (num_points < start_num + 4) {
return false;
}
// point 1 and last point must be the same. Note: 0th point is reserved as the return point
if (!Polygon_complete(&points[start_num], num_points-start_num)) {
return false;
}
// check return point is within the fence
if (contains_return_point && Polygon_outside(points[0], &points[1], num_points-start_num)) {
return false;
}
return true;
}
bool AC_PolyFence_loader::boundary_valid(uint16_t num_points, const Vector2f* points, bool contains_return_point) const
template <typename T>
bool AC_PolyFence_loader::boundary_valid(uint16_t num_points, const Vector2<T>* points, bool contains_return_point) const
{
// exit immediate if no points
if (points == nullptr) {
@ -115,7 +88,9 @@ bool AC_PolyFence_loader::boundary_valid(uint16_t num_points, const Vector2f* po
// 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
bool AC_PolyFence_loader::boundary_breached(const Vector2l& location, uint16_t num_points, const Vector2l* points, bool contains_return_point) const
template <typename T>
bool AC_PolyFence_loader::boundary_breached(const Vector2<T>& location, uint16_t num_points, const Vector2<T>* points,
bool contains_return_point) const
{
// exit immediate if no points
if (points == nullptr) {
@ -129,16 +104,10 @@ bool AC_PolyFence_loader::boundary_breached(const Vector2l& location, uint16_t n
return Polygon_outside(location, &points[start_num], num_points-start_num);
}
bool AC_PolyFence_loader::boundary_breached(const Vector2f& location, uint16_t num_points, const Vector2f* points, bool contains_return_point) const
{
// exit immediate if no points
if (points == nullptr) {
return false;
}
// start from 2nd point if boundary contains return point (as first point)
uint8_t start_num = contains_return_point ? 1 : 0;
// check location is within the fence
return Polygon_outside(location, &points[start_num], num_points-start_num);
}
// declare type specific methods
template bool AC_PolyFence_loader::boundary_valid<int32_t>(uint16_t num_points, const Vector2l* points, bool contains_return_point) const;
template bool AC_PolyFence_loader::boundary_valid<float>(uint16_t num_points, const Vector2f* points, bool contains_return_point) const;
template bool AC_PolyFence_loader::boundary_breached<int32_t>(const Vector2l& location, uint16_t num_points,
const Vector2l* points, bool contains_return_point) const;
template bool AC_PolyFence_loader::boundary_breached<float>(const Vector2f& location, uint16_t num_points,
const Vector2f* points, bool contains_return_point) const;

9
libraries/AC_Fence/AC_PolyFence_loader.h
View File

@ -21,17 +21,18 @@ public:
// 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
bool boundary_valid(uint16_t num_points, const Vector2l* points, bool contains_return_point) const;
bool boundary_valid(uint16_t num_points, const Vector2f* points, bool contains_return_point) const;
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
bool boundary_breached(const Vector2l& location, uint16_t num_points, const Vector2l* points, bool contains_return_point) const;
bool boundary_breached(const Vector2f& location, uint16_t num_points, const Vector2f* points, bool contains_return_point) const;
template <typename T>
bool boundary_breached(const Vector2<T>& location, uint16_t num_points, const Vector2<T>* points, bool contains_return_point) const;
};