update_boundary_for_sector

总的来讲就是算两个相邻扇区的最小距离，输出一个二维边界点，通过sin /cos × shortdistances 算出 。

//   update boundary points used for object avoidance based on a single sector's distance changing
//   the boundary points lie on the line between sectors meaning two boundary points may be updated based on a single sector's distance changing
//   the boundary point is set to the shortest distance found in the two adjacent sectors, this is a conservative boundary around the vehicle
void AP_Proximity_Backend::update_boundary_for_sector(uint8_t sector)
{
    // 若是扇区大于最大扇区数量则直接退出
    if (sector >= _num_sectors) {
        return;
    }

    // find adjacent sector (clockwise)
    uint8_t next_sector = sector + 1;
    if (next_sector >= _num_sectors) {
        next_sector = 0;
    }

    // 得到两个有效扇区之间的最小距离
    float shortest_distance = PROXIMITY_BOUNDARY_DIST_DEFAULT;
    if (_distance_valid[sector] && _distance_valid[next_sector]) {
        shortest_distance = MIN(_distance[sector], _distance[next_sector]);
    } else if (_distance_valid[sector]) {
        shortest_distance = _distance[sector];
    } else if (_distance_valid[next_sector]) {
        shortest_distance = _distance[next_sector];
    }
    if (shortest_distance < PROXIMITY_BOUNDARY_DIST_MIN) {
        shortest_distance = PROXIMITY_BOUNDARY_DIST_MIN;
    }
    _boundary_point[sector] = _sector_edge_vector[sector] * shortest_distance;

    // if the next sector (clockwise) has an invalid distance, set boundary to create a cup like boundary
    if (!_distance_valid[next_sector]) {
        _boundary_point[next_sector] = _sector_edge_vector[next_sector] * shortest_distance;
    }

    // 上一时刻的扇区和现在的扇区的比较得出最小的
    uint8_t prev_sector = (sector == 0) ? _num_sectors-1 : sector-1;
    shortest_distance = PROXIMITY_BOUNDARY_DIST_DEFAULT;
    if (_distance_valid[prev_sector] && _distance_valid[sector]) {
        shortest_distance = MIN(_distance[prev_sector], _distance[sector]);
    } else if (_distance_valid[prev_sector]) {
        shortest_distance = _distance[prev_sector];
    } else if (_distance_valid[sector]) {
        shortest_distance = _distance[sector];
    }
    _boundary_point[prev_sector] = _sector_edge_vector[prev_sector] * shortest_distance;

    // if the sector counter-clockwise from the previous sector has an invalid distance, set boundary to create a cup like boundary
    uint8_t prev_sector_ccw = (prev_sector == 0) ? _num_sectors-1 : prev_sector-1;
    if (!_distance_valid[prev_sector_ccw]) {
        _boundary_point[prev_sector_ccw] = _sector_edge_vector[prev_sector_ccw] * shortest_distance;
    }
}