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authorNicolas Schodet2011-06-13 00:41:38 +0200
committerNicolas Schodet2011-06-13 00:41:38 +0200
commita86abce7d1f1567b2f67b42d97334d17fc52fd4d (patch)
treed7bfbccda2fa7c5533923116c6275bc309f58b61 /digital/io-hub/src/robospierre/element.h
parent1ba50389bff517512e417500f4c52ceeafdb06a5 (diff)
digital/io-hub: try to avoid dropped pawn
Diffstat (limited to 'digital/io-hub/src/robospierre/element.h')
-rw-r--r--digital/io-hub/src/robospierre/element.h5
1 files changed, 3 insertions, 2 deletions
diff --git a/digital/io-hub/src/robospierre/element.h b/digital/io-hub/src/robospierre/element.h
index f9420cdb..243f5b94 100644
--- a/digital/io-hub/src/robospierre/element.h
+++ b/digital/io-hub/src/robospierre/element.h
@@ -191,15 +191,16 @@ element_get (uint8_t element_id)
/** Return whether an element is blocking robot. */
uint8_t
-element_blocking (uint8_t element_id);
+element_blocking (uint8_t element_id, uint8_t blocking);
/** Return whether an element is blocking a line segment.
* - a: line segment first point.
* - b: line segment second point.
* - ab: line segment length.
+ * - escape: trying to escape, be a little bit more permissive.
* - returns: 1 if the path should not be used. */
uint8_t
-element_blocking_path (vect_t a, vect_t b, int16_t ab);
+element_blocking_path (vect_t a, vect_t b, int16_t ab, uint8_t escape);
/** Ask to adjust score for the opposed green zone. */
void