From dca6d97a5288766e3e0da05dc5fdc98108fa7892 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Thu, 2 Jan 2014 14:18:02 +0100
Subject: create geofence class and start moving fence functionality to this
 class

---
 src/lib/geo/geo.c | 24 ------------------------
 src/lib/geo/geo.h | 11 -----------
 2 files changed, 35 deletions(-)

(limited to 'src/lib')

diff --git a/src/lib/geo/geo.c b/src/lib/geo/geo.c
index f64bfb41a..08fe2b696 100644
--- a/src/lib/geo/geo.c
+++ b/src/lib/geo/geo.c
@@ -503,27 +503,3 @@ __EXPORT float _wrap_360(float bearing)
 
 	return bearing;
 }
-
-__EXPORT bool inside_geofence(const struct vehicle_global_position_s *vehicle, const struct fence_s *fence)
-{
-
-	/* 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;
-}
-
-
-
diff --git a/src/lib/geo/geo.h b/src/lib/geo/geo.h
index 5f92e14cf..5f4bce698 100644
--- a/src/lib/geo/geo.h
+++ b/src/lib/geo/geo.h
@@ -143,15 +143,4 @@ __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
-- 
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