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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Julian Kent
94 lines
3.1 KiB
C++
94 lines
3.1 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file ObstacleAvoidance_dummy.hpp
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* This is a dummy class to reduce flash space for when obstacle avoidance is not required
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*
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* @author Julian Kent
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*/
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#pragma once
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#include <px4_platform_common/defines.h>
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#include <commander/px4_custom_mode.h>
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#include <matrix/matrix/math.hpp>
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class ObstacleAvoidance
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{
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public:
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ObstacleAvoidance(void *) {} // takes void* argument to be compatible with ModuleParams constructor
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void injectAvoidanceSetpoints(matrix::Vector3f &pos_sp, matrix::Vector3f &vel_sp, float &yaw_sp,
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float &yaw_speed_sp)
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{
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notify_dummy();
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};
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void updateAvoidanceDesiredWaypoints(const matrix::Vector3f &curr_wp, const float curr_yaw,
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const float curr_yawspeed,
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const matrix::Vector3f &next_wp, const float next_yaw, const float next_yawspeed, const bool ext_yaw_active,
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const int wp_type)
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{
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notify_dummy();
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};
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void updateAvoidanceDesiredSetpoints(const matrix::Vector3f &pos_sp, const matrix::Vector3f &vel_sp,
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const int type)
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{
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notify_dummy();
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}
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void checkAvoidanceProgress(const matrix::Vector3f &pos, const matrix::Vector3f &prev_wp,
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float target_acceptance_radius, const matrix::Vector2f &closest_pt)
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{
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notify_dummy();
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};
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protected:
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bool _logged_error = false;
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void notify_dummy()
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{
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if (!_logged_error) {
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PX4_ERR("Dummy avoidance library called!");
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_logged_error = true;
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}
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}
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};
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