refactored safety area

ctu-mrs · Oct 30, 2023 · 321caa0 · 321caa0
1 parent 208ebb3
commit 321caa0
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Showing 4 changed files with 111 additions and 418 deletions.
diff --git a/include/mrs_uav_managers/control_manager/common_handlers.h b/include/mrs_uav_managers/control_manager/common_handlers.h
@@ -13,8 +13,8 @@ namespace control_manager
 
 /* safety area handler //{ */
 
-typedef boost::function<bool(const mrs_msgs::ReferenceStamped point)> isPointInSafetyArea3d_t;
-typedef boost::function<bool(const mrs_msgs::ReferenceStamped point)> isPointInSafetyArea2d_t;
+typedef boost::function<bool(const mrs_msgs::ReferenceStamped &point)> isPointInSafetyArea3d_t;
+typedef boost::function<bool(const mrs_msgs::ReferenceStamped &point)> isPointInSafetyArea2d_t;
 typedef boost::function<double(const std::string &frame_id)>          getMaxZ_t;
 typedef boost::function<double(const std::string &frame_id)>          getMinZ_t;
 
@@ -24,7 +24,6 @@ struct SafetyArea_t
   mrs_uav_managers::control_manager::isPointInSafetyArea2d_t isPointInSafetyArea2d;
   mrs_uav_managers::control_manager::getMaxZ_t               getMaxZ;
   mrs_uav_managers::control_manager::getMinZ_t               getMinZ;
-  std::string                                                frame_id;
   bool                                                       use_safety_area;
 };