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[nav] remove old unused flight zone checking

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now performed with sectors at compilation time
This commit is contained in:
Gautier Hattenberger
2013-11-04 11:08:44 +01:00
committed by Felix Ruess
parent 7881f20b4c
commit ee42369dda
2 changed files with 0 additions and 155 deletions
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sw/airborne/subsystems/navigation/flightzone.c
-114
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@@ -1,114 +0,0 @@
/*
* Copyright (C) 2007 Arnold Schroeter
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
/**
* @file subsystems/navigation/flightzone.c
*
* Check whether a point is inside the polygon limiting the competition area.
*
* todo: - support concave/convex polygons
* - sort points automatically
* - minimize size of Orthogonal[]
*
*
* limitations: - boundary polygon has to be convex
* - points have to be ordered clockwise
*
* author: Arnold Schroeter
* history:
* 2.9.07 initial version
*
*/
#include "flightzone.h"
typedef struct { COORD_TYPE x;
COORD_TYPE y;
} POINT;
POINT Corner[] = {
12, 18,
12, 25,
15, 29,
18, 25,
18, 18,
13.5, 16,
0 , 0}; // last corner is a dummy, which must not be deleted!!!
POINT Orthogonal[20]; // Attention!!! array must be at least as long as Corner[]
unsigned char bNumberOfCorners = 0;
/*******************************************************************
; function name: vInitIsInsideBoundaries
; description:
;*******************************************************************/
void vInitIsInsideBoundaries(void)
{
unsigned char i;
bNumberOfCorners = sizeof(Corner)/sizeof(POINT) - 1; // last corner is always a dummy
Corner[bNumberOfCorners].x = Corner[0].x;
Corner[bNumberOfCorners].y = Corner[0].y;
for (i = 0; i < bNumberOfCorners; i++)
{
Orthogonal[i].x = Corner[i+1].y - Corner[i].y;
Orthogonal[i].y = - (Corner[i+1].x - Corner[i].x);
#if 0
printf("%d: corner (%f, %f), orthogonal (%f, %f)\n",
i, Corner[i].x, Corner[i].y,
Orthogonal[i].x, Orthogonal[i].y);
#endif
}
}
/*******************************************************************
; function name: iIsInsideBoundaries
; description:
;
; parameters:
; returns: 1 if point is inside boundaries
; 0 if point is outside boundaries
;*******************************************************************/
int iIsInsideBoundaries(COORD_TYPE x, COORD_TYPE y)
{
int r = 1;
static unsigned char i;
i = 0;
while ((i < bNumberOfCorners) && (r == 1))
{
if (((x - Corner[i].x) * Orthogonal[i].x + (y - Corner[i].y) * Orthogonal[i].y) < 0.)
{
r = 0;
}
++i;
}
return r;
}
sw/airborne/subsystems/navigation/flightzone.h
-41
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@@ -1,41 +0,0 @@
/*
* Copyright (C) 2007 Arnold Schroeter
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
/**
* @file subsystems/navigation/flightzone.c
*
* Check whether a point is inside the polygon limiting the competition area.
*
* author: Arnold Schroeter
* history:
* 2.9.07 initial version
*
*/
#ifndef FLIGHTZONE_H
#define FLIGHTZONE_H
#define COORD_TYPE float
void vInitIsInsideBoundaries(void);
int iIsInsideBoundaries(COORD_TYPE x, COORD_TYPE y);
#endif /* FLIGHTZONE_H */