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-rw-r--r--digital/io-hub/src/common-cc/path.cc4
-rw-r--r--digital/io-hub/src/common-cc/path.hh4
2 files changed, 4 insertions, 4 deletions
diff --git a/digital/io-hub/src/common-cc/path.cc b/digital/io-hub/src/common-cc/path.cc
index 86f79e95..463daca5 100644
--- a/digital/io-hub/src/common-cc/path.cc
+++ b/digital/io-hub/src/common-cc/path.cc
@@ -93,7 +93,7 @@ void Path::reset()
/* Declare the cake as an obstacle */
add_obstacle( pg_cake_pos,
pg_cake_radius,
- PATH_CAKE_NAVPOINTS_NB,
+ PATH_CAKE_NAVPOINTS_NB * 2 /* only half the navpoints are on the playground */,
PATH_CAKE_NAVPOINTS_LAYERS,
0 /* no extra clearance radius */,
true /*target the center is allowed*/);
@@ -137,7 +137,7 @@ void Path::add_obstacle( const vect_t &c,
/* Extend the points radius to allow the robot to go */
/* from one to another without collision with the */
/* obstacle circle. New radius is r / cos(angle/2) */
- x = fixed_div_f824(r, rot_c) + 2 /* margin for the unprecise fixed point computation */;
+ x = fixed_div_f824(r, rot_c) + 3 /* margin for the unprecise fixed point computation */;
y = 0;
/* Add a number of sets of navigation points with different weights */
diff --git a/digital/io-hub/src/common-cc/path.hh b/digital/io-hub/src/common-cc/path.hh
index 28b5a8d8..74a8a382 100644
--- a/digital/io-hub/src/common-cc/path.hh
+++ b/digital/io-hub/src/common-cc/path.hh
@@ -91,8 +91,8 @@ class Path
/** Number of points per standard obstacle. */
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;
+ /** Number of points for the cake (plus 1) */
+ static const int PATH_CAKE_NAVPOINTS_NB = 6;
#endif
/** Number of navigation points layers for the cake. */
static const int PATH_CAKE_NAVPOINTS_LAYERS = 1;