diff options
Diffstat (limited to 'src/lib/geo/geo.h')
| -rw-r--r-- | src/lib/geo/geo.h | 14 |
1 files changed, 14 insertions, 0 deletions
diff --git a/src/lib/geo/geo.h b/src/lib/geo/geo.h index 123ff80f1..6bce9309b 100644 --- a/src/lib/geo/geo.h +++ b/src/lib/geo/geo.h @@ -47,6 +47,9 @@ #pragma once +#include "uORB/topics/fence.h" +#include "uORB/topics/vehicle_global_position.h" + __BEGIN_DECLS #include <stdbool.h> @@ -126,4 +129,15 @@ __EXPORT float _wrap_360(float bearing); __EXPORT float _wrap_pi(float bearing); __EXPORT float _wrap_2pi(float bearing); +/** + * Return whether craft is inside geofence. + * + * Calculate whether point is inside arbitrary polygon + * @param craft pointer craft coordinates + * @param fence pointer to array of coordinates, one per vertex. First and last vertex are assumed connected + * @return true: craft is inside fence, false:craft is outside fence + */ +__EXPORT bool inside_geofence(const struct vehicle_global_position_s *craft, const struct fence_s *fence); + + __END_DECLS |