AC_Avoid: Remove unnecessary sanity checks

libraries/AC_Avoidance/AC_Avoid.cpp

@@ -406,10 +406,7 @@ void AC_Avoid::adjust_velocity_inclusion_and_exclusion_polygons(float kP, float
     for (uint8_t i = 0; i < num_inclusion_polygons; i++) {
         uint16_t num_points;
         const Vector2f* boundary = fence->polyfence().get_inclusion_polygon(i, num_points);
-        if (num_points < 3) {
-            // ignore exclusion polygons with less than 3 points
-            continue;
-        }
+        
         // adjust velocity
         adjust_velocity_polygon(kP, accel_cmss, desired_vel_cms, boundary, num_points, true, fence->get_margin(), dt, true);
     }
@@ -419,10 +416,7 @@ void AC_Avoid::adjust_velocity_inclusion_and_exclusion_polygons(float kP, float
     for (uint8_t i = 0; i < num_exclusion_polygons; i++) {
         uint16_t num_points;
         const Vector2f* boundary = fence->polyfence().get_exclusion_polygon(i, num_points);
-        if (num_points < 3) {
-            // ignore exclusion polygons with less than 3 points
-            continue;
-        }
+ 
         // adjust velocity
         adjust_velocity_polygon(kP, accel_cmss, desired_vel_cms, boundary, num_points, true, fence->get_margin(), dt, false);
     }

libraries/AC_Avoidance/AP_OABendyRuler.cpp

@@ -236,10 +236,6 @@ bool AP_OABendyRuler::calc_margin_from_inclusion_and_exclusion_polygons(const Lo
     for (uint8_t i = 0; i < num_inclusion_polygons; i++) {
         uint16_t num_points;
         const Vector2f* boundary = fence->polyfence().get_inclusion_polygon(i, num_points);
-        if (num_points < 3) {
-            // ignore exclusion polygons with less than 3 points
-            continue;
-        }
      
         // if outside the fence margin is the closest distance but with negative sign
         const float sign = Polygon_outside(start_NE, boundary, num_points) ? -1.0f : 1.0f;
@@ -256,10 +252,6 @@ bool AP_OABendyRuler::calc_margin_from_inclusion_and_exclusion_polygons(const Lo
     for (uint8_t i = 0; i < num_exclusion_polygons; i++) {
         uint16_t num_points;
         const Vector2f* boundary = fence->polyfence().get_exclusion_polygon(i, num_points);
-        if (num_points < 3) {
-            // ignore exclusion polygons with less than 3 points
-            continue;
-        }
    
         // if start is inside the polygon the margin's sign is reversed
         const float sign = Polygon_outside(start_NE, boundary, num_points) ? 1.0f : -1.0f;

libraries/AC_Avoidance/AP_OADijkstra.cpp

@@ -265,10 +265,6 @@ bool AP_OADijkstra::create_inclusion_polygon_with_margin(float margin_cm, AP_OAD
     for (uint8_t i = 0; i < num_inclusion_polygons; i++) {
         uint16_t num_points;
         const Vector2f* boundary = fence->polyfence().get_inclusion_polygon(i, num_points);
-        if (num_points < 3) {
-            // ignore exclusion polygons with less than 3 points
-            continue;
-        }
 
         // expand array if required
         if (!_inclusion_polygon_pts.expand_to_hold(_inclusion_polygon_numpoints + num_points)) {
@@ -356,10 +352,6 @@ bool AP_OADijkstra::create_exclusion_polygon_with_margin(float margin_cm, AP_OAD
     for (uint8_t i = 0; i < num_exclusion_polygons; i++) {
         uint16_t num_points;
         const Vector2f* boundary = fence->polyfence().get_exclusion_polygon(i, num_points);
-        if (num_points < 3) {
-            // ignore exclusion polygons with less than 3 points
-            continue;
-        }
    
         // expand array if required
         if (!_exclusion_polygon_pts.expand_to_hold(_exclusion_polygon_numpoints + num_points)) {
@@ -533,7 +525,7 @@ bool AP_OADijkstra::intersects_fence(const Vector2f &seg_start, const Vector2f &
     uint16_t num_points = 0;
     for (uint8_t i = 0; i < fence->polyfence().get_inclusion_polygon_count(); i++) {
         const Vector2f* boundary = fence->polyfence().get_inclusion_polygon(i, num_points);
-        if ((boundary != nullptr) && (num_points >= 3)) {
+        if (boundary != nullptr) {
             Vector2f intersection;
             if (Polygon_intersects(boundary, num_points, seg_start, seg_end, intersection)) {
                 return true;
@@ -544,7 +536,7 @@ bool AP_OADijkstra::intersects_fence(const Vector2f &seg_start, const Vector2f &
     // determine if segment crosses any of the exclusion polygons
     for (uint8_t i = 0; i < fence->polyfence().get_exclusion_polygon_count(); i++) {
         const Vector2f* boundary = fence->polyfence().get_exclusion_polygon(i, num_points);
-        if ((boundary != nullptr) && (num_points >= 3)) {
+        if (boundary != nullptr) {
             Vector2f intersection;
             if (Polygon_intersects(boundary, num_points, seg_start, seg_end, intersection)) {
                 return true;