/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: @author Jean Cyr <jean.m.cyr@gmail.com>
* @author Thomas Gubler <thomasgubler@gmail.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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****************************************************************************/
/**
* @file geofence.cpp
* Provides functions for handling the geofence
*/
#include "geofence.h"
#include <uORB/topics/vehicle_global_position.h>
Geofence::Geofence()
{
}
Geofence::~Geofence()
{
}
bool Geofence::inside(const struct vehicle_global_position_s *vehicle)
{
/* Adaptation of algorithm originally presented as
* PNPOLY - Point Inclusion in Polygon Test
* W. Randolph Franklin (WRF) */
unsigned int i, j, vertices = _fence.count;
bool c = false;
double lat = vehicle->lat / 1e7d;
double lon = vehicle->lon / 1e7d;
// skip vertex 0 (return point)
for (i = 0, j = vertices - 1; i < vertices; j = i++)
if (((_fence.vertices[i].lon) >= lon != (_fence.vertices[j].lon >= lon)) &&
(lat <= (_fence.vertices[j].lat - _fence.vertices[i].lat) * (lon - _fence.vertices[i].lon) /
(_fence.vertices[j].lon - _fence.vertices[i].lon) + _fence.vertices[i].lat))
c = !c;
return c;
}