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create geofence class and start moving fence functionality to this class

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This commit is contained in:
Thomas Gubler
2014-01-02 14:18:02 +01:00
parent 4191ae33c2
commit dca6d97a52
6 changed files with 141 additions and 36 deletions
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src/lib/geo/geo.c
-24
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@@ -503,27 +503,3 @@ __EXPORT float _wrap_360(float bearing)
return bearing;
}
__EXPORT bool inside_geofence(const struct vehicle_global_position_s *vehicle, const struct fence_s *fence)
{
/* Adaptation of algorithm originally presented as
* PNPOLY - Point Inclusion in Polygon Test
* W. Randolph Franklin (WRF) */
unsigned int i, j, vertices = fence->count;
bool c = false;
double lat = vehicle->lat / 1e7d;
double lon = vehicle->lon / 1e7d;
// skip vertex 0 (return point)
for (i = 0, j = vertices - 1; i < vertices; j = i++)
if (((fence->vertices[i].lon) >= lon != (fence->vertices[j].lon >= lon)) &&
(lat <= (fence->vertices[j].lat - fence->vertices[i].lat) * (lon - fence->vertices[i].lon) /
(fence->vertices[j].lon - fence->vertices[i].lon) + fence->vertices[i].lat))
c = !c;
return c;
}
src/lib/geo/geo.h
-11
View File
@@ -143,15 +143,4 @@ __EXPORT float _wrap_360(float bearing);
__EXPORT float _wrap_pi(float bearing);
__EXPORT float _wrap_2pi(float bearing);
/**
* 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
*/
__EXPORT bool inside_geofence(const struct vehicle_global_position_s *craft, const struct fence_s *fence);
__END_DECLS