From 93614a3099bda4413d6baf1fc0a4ee3533ca7476 Mon Sep 17 00:00:00 2001 From: Olivier Lanneluc Date: Fri, 3 May 2013 16:11:39 +0200 Subject: digital/io-hub/src/common-cc/path: clarify the clearance margins applied around obstacles --- digital/io-hub/src/common-cc/path.hh | 6 ++++++ 1 file changed, 6 insertions(+) (limited to 'digital/io-hub/src/common-cc/path.hh') diff --git a/digital/io-hub/src/common-cc/path.hh b/digital/io-hub/src/common-cc/path.hh index fc743291..b25d4235 100644 --- a/digital/io-hub/src/common-cc/path.hh +++ b/digital/io-hub/src/common-cc/path.hh @@ -108,6 +108,12 @@ class Path static const int PATH_WEIGHT_PRECISION = 4; /** Navigation points weight step (2^-n). */ static const int PATH_WEIGHT_STEP = 6; + /** Extra clearance area added to the radius of the mobile obstacles + * to counter the imprecision of the sonic sensors when the robot brakes */ + static const uint16_t PATH_OBSTACLES_CLEARANCE = 60; + /** Extra clearance area added to the radius of the navigation points + * circle to move the navpoints away from the obstacle circle */ + static const uint16_t PATH_NAVPOINTS_CLEARANCE = 40; /** Borders, any point outside borders is eliminated. */ const uint16_t border_xmin, border_ymin, border_xmax, border_ymax; -- cgit v1.2.3