diff options
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); }; |