AC_Fence: Remove unused duplicate methods

The Vector2l methods completely duplicate the code of the Vector2f
methods, but aren't used anywhere. They are therefore subject to bitrot
and aren't adding any value. (Also shrinks the build by 8 bytes for some
reason, given that it's unused code I expected to see no difference in
binary size).

libraries/AC_Fence/AC_PolyFence_loader.cpp

@@ -56,35 +56,8 @@ bool AC_PolyFence_loader::save_point_to_eeprom(uint16_t i, const Vector2l& point
 // validate array of boundary points (expressed as either floats or long ints)
 //   contains_return_point should be true for plane which stores the return point as the first point in the array
 //   returns true if boundary is valid
-bool AC_PolyFence_loader::boundary_valid(uint16_t num_points, const Vector2l* points, bool contains_return_point) const
-{
-    // exit immediate if no points
-    if (points == nullptr) {
-        return false;
-    }
-
-    // start from 2nd point if boundary contains return point (as first point)
-    uint8_t start_num = contains_return_point ? 1 : 0;
-
-    // a boundary requires at least 4 point (a triangle and last point equals first)
-    if (num_points < start_num + 4) {
-        return false;
-    }
-
-    // point 1 and last point must be the same.  Note: 0th point is reserved as the return point
-    if (!Polygon_complete(&points[start_num], num_points-start_num)) {
-        return false;
-    }
-
-    // check return point is within the fence
-    if (contains_return_point && Polygon_outside(points[0], &points[1], num_points-start_num)) {
-        return false;
-    }
-
-    return true;
-}
-
-bool AC_PolyFence_loader::boundary_valid(uint16_t num_points, const Vector2f* points, bool contains_return_point) const
+template <typename T>
+bool AC_PolyFence_loader::boundary_valid(uint16_t num_points, const Vector2<T>* points, bool contains_return_point) const
 {
     // exit immediate if no points
     if (points == nullptr) {
@@ -115,7 +88,9 @@ bool AC_PolyFence_loader::boundary_valid(uint16_t num_points, const Vector2f* po
 // check if a location (expressed as either floats or long ints) is within the boundary
 //   contains_return_point should be true for plane which stores the return point as the first point in the array
 //   returns true if location is outside the boundary
-bool AC_PolyFence_loader::boundary_breached(const Vector2l& location, uint16_t num_points, const Vector2l* points, bool contains_return_point) const
+template <typename T>
+bool AC_PolyFence_loader::boundary_breached(const Vector2<T>& location, uint16_t num_points, const Vector2<T>* points,
+                                            bool contains_return_point) const
 {
     // exit immediate if no points
     if (points == nullptr) {
@@ -129,16 +104,10 @@ bool AC_PolyFence_loader::boundary_breached(const Vector2l& location, uint16_t n
     return Polygon_outside(location, &points[start_num], num_points-start_num);
 }
 
-bool AC_PolyFence_loader::boundary_breached(const Vector2f& location, uint16_t num_points, const Vector2f* points, bool contains_return_point) const
-{
-    // exit immediate if no points
-    if (points == nullptr) {
-        return false;
-    }
-
-    // start from 2nd point if boundary contains return point (as first point)
-    uint8_t start_num = contains_return_point ? 1 : 0;
-
-    // check location is within the fence
-    return Polygon_outside(location, &points[start_num], num_points-start_num);
-}
+// declare type specific methods
+template bool AC_PolyFence_loader::boundary_valid<int32_t>(uint16_t num_points, const Vector2l* points, bool contains_return_point) const;
+template bool AC_PolyFence_loader::boundary_valid<float>(uint16_t num_points, const Vector2f* points, bool contains_return_point) const;
+template bool AC_PolyFence_loader::boundary_breached<int32_t>(const Vector2l& location, uint16_t num_points,
+                                                              const Vector2l* points, bool contains_return_point) const;
+template bool AC_PolyFence_loader::boundary_breached<float>(const Vector2f& location, uint16_t num_points,
+                                                            const Vector2f* points, bool contains_return_point) const;

libraries/AC_Fence/AC_PolyFence_loader.h

@@ -21,17 +21,18 @@ public:
     // save a fence point to eeprom, returns true on successful save
     bool save_point_to_eeprom(uint16_t i, const Vector2l& point);
 
+
     // validate array of boundary points (expressed as either floats or long ints)
     //   contains_return_point should be true for plane which stores the return point as the first point in the array
     //   returns true if boundary is valid
-    bool boundary_valid(uint16_t num_points, const Vector2l* points, bool contains_return_point) const;
-    bool boundary_valid(uint16_t num_points, const Vector2f* points, bool contains_return_point) const;
+    template <typename T>
+    bool boundary_valid(uint16_t num_points, const Vector2<T>* points, bool contains_return_point) const;
 
     // check if a location (expressed as either floats or long ints) is within the boundary
     //   contains_return_point should be true for plane which stores the return point as the first point in the array
     //   returns true if location is outside the boundary
-    bool boundary_breached(const Vector2l& location, uint16_t num_points, const Vector2l* points, bool contains_return_point) const;
-    bool boundary_breached(const Vector2f& location, uint16_t num_points, const Vector2f* points, bool contains_return_point) const;
+    template <typename T>
+    bool boundary_breached(const Vector2<T>& location, uint16_t num_points, const Vector2<T>* points, bool contains_return_point) const;
 
 };