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+// io-hub - Modular Input/Output. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// APBTeam:
+// Web: http://apbteam.org/
+// Email: team AT apbteam DOT org
+//
+// This program is free software; you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation; either version 2 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// }}}
+#include "obstacles.hh"
+
+extern "C" {
+#include "modules/math/geometry/distance.h"
+}
+
+#ifdef TARGET_host
+# include "robot.hh"
+#endif
+
+Obstacles::Obstacles ()
+ : changed_ (false)
+{
+ for (int i = 0; i < obstacles_nb_; i++)
+ obstacles_[i].valid = 0;
+}
+
+void
+Obstacles::update ()
+{
+ for (int i = 0; i < obstacles_nb_; i++)
+ {
+ if (obstacles_[i].valid)
+ obstacles_[i].valid--;
+ }
+#ifdef TARGET_host
+ if (changed_)
+ {
+ SimuReport &r = robot->hardware.simu_report;
+ vect_t o[obstacles_nb_];
+ int o_nb = 0;
+ for (int i = 0; i < obstacles_nb_; i++)
+ {
+ if (obstacles_[i].valid)
+ o[o_nb++] = obstacles_[i].pos;
+ }
+ r.pos (o, o_nb, 0);
+ }
+#endif
+ changed_ = false;
+}
+
+void
+Obstacles::add (const vect_t &pos)
+{
+ // Try to merge, and find the oldest on the way.
+ int oldest_i = 0, oldest_i_valid = valid_new_;
+ for (int i = 0; i < obstacles_nb_; i++)
+ {
+ if (obstacles_[i].valid)
+ {
+ if (distance_point_point (&pos, &obstacles_[i].pos) < same_mm_)
+ {
+ // Replace if older.
+ if (obstacles_[i].valid < valid_new_)
+ {
+ obstacles_[i].pos = pos;
+ obstacles_[i].valid = valid_new_;
+ changed_ = true;
+ }
+ return;
+ }
+ }
+ if (obstacles_[i].valid < oldest_i_valid)
+ {
+ oldest_i = i;
+ oldest_i_valid = obstacles_[i].valid;
+ }
+ }
+ // If not found, replace the oldest.
+ obstacles_[oldest_i].pos = pos;
+ obstacles_[oldest_i].valid = valid_new_;
+ changed_ = true;
+}
+
+bool
+Obstacles::blocking (const vect_t &robot, const vect_t &dest) const
+{
+ // TODO
+ return false;
+}
+