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Diffstat (limited to 'src/modules/navigator/geofence.cpp')
| -rw-r--r-- | src/modules/navigator/geofence.cpp | 9 |
1 files changed, 7 insertions, 2 deletions
diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp index 199ccb41b..666d9076e 100644 --- a/src/modules/navigator/geofence.cpp +++ b/src/modules/navigator/geofence.cpp @@ -70,15 +70,20 @@ Geofence::~Geofence() bool Geofence::inside(const struct vehicle_global_position_s *vehicle) { + double lat = vehicle->lat / 1e7d; + double lon = vehicle->lon / 1e7d; + + return inside(lat, lon); +} +bool Geofence::inside(double lat, double lon) +{ /* 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++) |