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authorOlivier Lanneluc2013-05-03 16:11:39 +0200
committerNicolas Schodet2013-05-03 23:07:15 +0200
commit93614a3099bda4413d6baf1fc0a4ee3533ca7476 (patch)
tree582e87ff6f8a0f2cf42f17b1e6bef18771b8eb30 /digital/io-hub/src/common-cc/path.hh
parent496c1b542fcc390aa1cd142a5b86aa82ae1b3c25 (diff)
digital/io-hub/src/common-cc/path: clarify the clearance margins applied around obstacles
Diffstat (limited to 'digital/io-hub/src/common-cc/path.hh')
-rw-r--r--digital/io-hub/src/common-cc/path.hh6
1 files changed, 6 insertions, 0 deletions
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;