From da34da05a04920d16394f27363862f59d00237f1 Mon Sep 17 00:00:00 2001 From: Rhys Mainwaring Date: Tue, 27 Feb 2024 15:03:39 +0000 Subject: [PATCH] AP_ExternalControl: add method set_path_position_tangent_and_curvature Signed-off-by: Rhys Mainwaring --- libraries/AP_ExternalControl/AP_ExternalControl.h | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/libraries/AP_ExternalControl/AP_ExternalControl.h b/libraries/AP_ExternalControl/AP_ExternalControl.h index 34228e2b7ab4ff..f1554a1a868f51 100644 --- a/libraries/AP_ExternalControl/AP_ExternalControl.h +++ b/libraries/AP_ExternalControl/AP_ExternalControl.h @@ -32,6 +32,15 @@ class AP_ExternalControl return false; } + /* + Set the target setpoint for path guidance: the closest position on the + path, the unit tangent to the path, and path curvature and direction. + */ + virtual bool set_path_position_tangent_and_curvature(const Location &position_on_path, + Vector2f unit_path_tangent, const float path_curvature, const bool direction_is_ccw) WARN_IF_UNUSED { + return false; + } + static AP_ExternalControl *get_singleton(void) WARN_IF_UNUSED { return singleton; } @@ -42,7 +51,6 @@ class AP_ExternalControl static AP_ExternalControl *singleton; }; - namespace AP { AP_ExternalControl *externalcontrol();