inline GeoVector
TaskLeg::GetRemainingVector(const GeoPoint &ref) const
{
switch (destination.GetActiveState()) {
case OrderedTaskPoint::AFTER_ACTIVE:
// this leg totally included
return GetPlannedVector();
case OrderedTaskPoint::CURRENT_ACTIVE: {
// this leg partially included
if (!ref.IsValid())
/* if we don't have a GPS fix yet, we fall back to the "planned"
vector unless this task leg has already been achieved */
return destination.HasEntered()
? GeoVector::Zero()
: GetPlannedVector();
return memo_remaining.calc(ref, destination.GetLocationRemaining());
}
case OrderedTaskPoint::BEFORE_ACTIVE:
// this leg not included
return GeoVector::Zero();
}
gcc_unreachable();
assert(false);
return GeoVector::Invalid();
}
fixed
TaskLeg::ScanDistancePlanned()
{
vector_planned = GetPlannedVector();
return vector_planned.distance +
(GetNext() ? GetNext()->ScanDistancePlanned() : fixed_zero);
}
double
TaskLeg::ScanDistancePlanned()
{
vector_planned = GetPlannedVector();
return vector_planned.distance +
(GetNext() ? GetNext()->ScanDistancePlanned() : 0);
}
inline GeoVector
TaskLeg::GetRemainingVector(const GeoPoint &ref) const
{
switch (destination.GetActiveState()) {
case OrderedTaskPoint::AFTER_ACTIVE:
// this leg totally included
return GetPlannedVector();
case OrderedTaskPoint::CURRENT_ACTIVE:
// this leg partially included
return memo_remaining.calc(ref, destination.GetLocationRemaining());
case OrderedTaskPoint::BEFORE_ACTIVE:
// this leg not included
return GeoVector::Zero();
}
gcc_unreachable();
assert(false);
return GeoVector::Invalid();
}
