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-rw-r--r--digital/io-hub/src/common-cc/path.hh14
1 files changed, 8 insertions, 6 deletions
diff --git a/digital/io-hub/src/common-cc/path.hh b/digital/io-hub/src/common-cc/path.hh
index 8003f32b..e683b83a 100644
--- a/digital/io-hub/src/common-cc/path.hh
+++ b/digital/io-hub/src/common-cc/path.hh
@@ -73,30 +73,32 @@ class Path
private:
/** Add an obstacle on the field */
- void add_obstacle(const vect_t &c, uint16_t r, const int nodes);
+ void add_obstacle(const vect_t &c, uint16_t r, const int nodes, const int nlayers, const uint16_t clearance);
/** Number of possible obstacles. */
static const int PATH_OBSTACLES_NB = (4+1/*cake*/);
/** Number of points per standard obstacle. */
- static const int PATH_OBSTACLES_NAVPOINTS_NB = 8;
+ static const int PATH_OBSTACLES_NAVPOINTS_NB = 12;
#ifdef playground_2013_hh
/** Number of points for the cake */
static const int PATH_CAKE_NAVPOINTS_NB = 14;
#endif
/** Number of reserved points for the 2 endpoints */
static const int PATH_RESERVED_NAVPOINTS_NB = 2;
+ /** Number of navigation points layers for the cake. */
+ static const int PATH_CAKE_NAVPOINTS_LAYERS = 1;
/** Number of navigation points layers for each obstacle. */
- static const int PATH_NAVPOINTS_LAYERS = 2;
+ static const int PATH_OBSTACLES_NAVPOINTS_LAYERS = 2;
/** Number of navigation points. */
static const int PATH_NAVPOINTS_NB = (PATH_RESERVED_NAVPOINTS_NB +
#ifdef playground_2013_hh
- PATH_NAVPOINTS_LAYERS * (PATH_CAKE_NAVPOINTS_NB - PATH_OBSTACLES_NAVPOINTS_NB) +
+ PATH_CAKE_NAVPOINTS_LAYERS * (PATH_CAKE_NAVPOINTS_NB - PATH_OBSTACLES_NAVPOINTS_NB) +
#endif
- PATH_NAVPOINTS_LAYERS * (PATH_OBSTACLES_NB * PATH_OBSTACLES_NAVPOINTS_NB));
+ PATH_OBSTACLES_NAVPOINTS_LAYERS * (PATH_OBSTACLES_NB * PATH_OBSTACLES_NAVPOINTS_NB));
/** Navigation points weight precision (2^-n). */
static const int PATH_WEIGHT_PRECISION = 4;
/** Navigation points weight step (2^-n). */
- static const int PATH_WEIGHT_STEP = 5;
+ static const int PATH_WEIGHT_STEP = 6;
/** Borders, any point outside borders is eliminated. */
const uint16_t border_xmin, border_ymin, border_xmax, border_ymax;