From dca6d97a5288766e3e0da05dc5fdc98108fa7892 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Thu, 2 Jan 2014 14:18:02 +0100 Subject: create geofence class and start moving fence functionality to this class --- src/modules/navigator/geofence.h | 64 ++++++++++++++++++++++++++++++++++++++++ 1 file changed, 64 insertions(+) create mode 100644 src/modules/navigator/geofence.h (limited to 'src/modules/navigator/geofence.h') diff --git a/src/modules/navigator/geofence.h b/src/modules/navigator/geofence.h new file mode 100644 index 000000000..6d6e6e87c --- /dev/null +++ b/src/modules/navigator/geofence.h @@ -0,0 +1,64 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * Author: @author Jean Cyr + * @author Thomas Gubler + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +/** + * @file geofence.h + * Provides functions for handling the geofence + */ + +#ifndef GEOFENCE_H_ +#define GEOFENCE_H_ + +#include + +class Geofence { +private: + struct fence_s _fence; +public: + Geofence(); + ~Geofence(); + + /** + * 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 + */ + bool inside(const struct vehicle_global_position_s *craft); +}; + + +#endif /* GEOFENCE_H_ */ -- cgit v1.2.3