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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-01-02 15:01:08 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-01-02 15:01:08 +0100 |
| commit | 429a11a21d25e34ca711b2c0debb2ac3e84c45ca (patch) | |
| tree | b86d554b7b7e2dd6d18d7971efedadd3066d084a /src/modules/navigator/geofence.h | |
| parent | dca6d97a5288766e3e0da05dc5fdc98108fa7892 (diff) | |
| download | px4-firmware-429a11a21d25e34ca711b2c0debb2ac3e84c45ca.tar.gz px4-firmware-429a11a21d25e34ca711b2c0debb2ac3e84c45ca.tar.bz2 px4-firmware-429a11a21d25e34ca711b2c0debb2ac3e84c45ca.zip | |
navigator/geofence: move more functions to geofence class (WIP)
Diffstat (limited to 'src/modules/navigator/geofence.h')
| -rw-r--r-- | src/modules/navigator/geofence.h | 16 |
1 files changed, 16 insertions, 0 deletions
diff --git a/src/modules/navigator/geofence.h b/src/modules/navigator/geofence.h index 6d6e6e87c..8f3a07b02 100644 --- a/src/modules/navigator/geofence.h +++ b/src/modules/navigator/geofence.h @@ -45,6 +45,7 @@ class Geofence { private: struct fence_s _fence; + orb_advert_t _fence_pub; /**< publish fence topic */ public: Geofence(); ~Geofence(); @@ -58,6 +59,21 @@ public: * @return true: craft is inside fence, false:craft is outside fence */ bool inside(const struct vehicle_global_position_s *craft); + + + /** + * Load fence parameters. + */ + bool load(unsigned vertices); + + bool valid(); + + /** + * Specify fence vertex position. + */ + void addPoint(int argc, char *argv[]); + + void publishFence(unsigned vertices); }; |