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38 lines
1.4 KiB
38 lines
1.4 KiB
#pragma once |
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#include <AP_Common/AP_Common.h> |
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#include <AP_Math/AP_Math.h> |
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class AC_PolyFence_loader |
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{ |
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public: |
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// maximum number of fence points we can store in eeprom |
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uint8_t max_points() const; |
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// create buffer to hold copy of eeprom points in RAM |
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// returns nullptr if not enough memory can be allocated |
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void* create_point_array(uint8_t element_size); |
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// load boundary point from eeprom, returns true on successful load |
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bool load_point_from_eeprom(uint16_t i, Vector2l& point); |
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// save a fence point to eeprom, returns true on successful save |
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bool save_point_to_eeprom(uint16_t i, const Vector2l& point); |
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// validate array of boundary points (expressed as either floats or long ints) |
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// contains_return_point should be true for plane which stores the return point as the first point in the array |
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// returns true if boundary is valid |
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template <typename T> |
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bool boundary_valid(uint16_t num_points, const Vector2<T>* points, bool contains_return_point) const; |
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// check if a location (expressed as either floats or long ints) is within the boundary |
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// contains_return_point should be true for plane which stores the return point as the first point in the array |
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// returns true if location is outside the boundary |
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template <typename T> |
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bool boundary_breached(const Vector2<T>& location, uint16_t num_points, const Vector2<T>* points, bool contains_return_point) const; |
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}; |
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