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