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@ -104,10 +104,10 @@ public:
@@ -104,10 +104,10 @@ public:
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// get total number of obstacles, used in GPS based Simple Avoidance
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uint8_t get_obstacle_count() const; |
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// get vector to obstacle based on obstacle_num passed, used in GPS based Simple Avoidance
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bool get_obstacle(uint8_t obstacle_num, Vector3f& vec_to_obstacle) const; |
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// returns shortest distance to "obstacle_num" obstacle, from a line segment formed between "seg_start" and "seg_end"
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// returns FLT_MAX if it's an invalid instance.
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bool closest_point_from_segment_to_obstacle(uint8_t obstacle_num, const Vector3f& seg_start, const Vector3f& seg_end, Vector3f& closest_point) const; |
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