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AP_Math: move location_passed_point to Location and rename

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This commit is contained in:
Pierre Kancir 2019-04-09 10:24:22 +02:00 committed by Andrew Tridgell
parent 0a78368590
commit e06d7dbbf7
4 changed files with 18 additions and 27 deletions
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11
libraries/AP_Common/Location.cpp
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@ -328,3 +328,14 @@ bool Location::check_latlng() const
{ {
return check_lat(lat) && check_lng(lng); return check_lat(lat) && check_lng(lng);
} }
// see if location is past a line perpendicular to
// the line between point1 and point2 and passing through point2.
// If point1 is our previous waypoint and point2 is our target waypoint
// then this function returns true if we have flown past
// the target waypoint
bool Location::past_interval_finish_line(const Location &point1, const Location &point2) const
{
return this->line_path_proportion(point1, point2) >= 1.0f;
}

7
libraries/AP_Common/Location.h
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@ -98,6 +98,13 @@ public:
// return true when lat and lng are within range // return true when lat and lng are within range
bool check_latlng() const; bool check_latlng() const;
// see if location is past a line perpendicular to
// the line between point1 and point2 and passing through point2.
// If point1 is our previous waypoint and point2 is our target waypoint
// then this function returns true if we have flown past
// the target waypoint
bool past_interval_finish_line(const Location &point1, const Location &point2) const;
private: private:
static AP_Terrain *_terrain; static AP_Terrain *_terrain;
}; };

18
libraries/AP_Math/location.cpp
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@ -39,19 +39,6 @@ float get_bearing_cd(const Vector3f &origin, const Vector3f &destination)
return bearing; return bearing;
} }
// see if location is past a line perpendicular to
// the line between point1 and point2. If point1 is
// our previous waypoint and point2 is our target waypoint
// then this function returns true if we have flown past
// the target waypoint
bool location_passed_point(const struct Location &location,
const struct Location &point1,
const struct Location &point2)
{
return location_path_proportion(location, point1, point2) >= 1.0f;
}
/* /*
return the proportion we are along the path from point1 to return the proportion we are along the path from point1 to
point2, along a line parallel to point1<->point2. point2, along a line parallel to point1<->point2.
@ -73,11 +60,6 @@ float location_path_proportion(const struct Location &location,
} }
// return true when lat and lng are within range // return true when lat and lng are within range
bool check_lat(float lat) bool check_lat(float lat)
{ {

9
libraries/AP_Math/location.h
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@ -22,15 +22,6 @@ float get_horizontal_distance_cm(const Vector3f &origin, const Vector3f &
// return bearing in centi-degrees between two positions // return bearing in centi-degrees between two positions
float get_bearing_cd(const Vector3f &origin, const Vector3f &destination); float get_bearing_cd(const Vector3f &origin, const Vector3f &destination);
// see if location is past a line perpendicular to
// the line between point1 and point2. If point1 is
// our previous waypoint and point2 is our target waypoint
// then this function returns true if we have flown past
// the target waypoint
bool location_passed_point(const struct Location & location,
const struct Location & point1,
const struct Location & point2);
/* /*
return the proportion we are along the path from point1 to return the proportion we are along the path from point1 to
point2. This will be less than >1 if we have passed point2 point2. This will be less than >1 if we have passed point2