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-rw-r--r--digital/io-hub/src/common-cc/path.hh24
1 files changed, 12 insertions, 12 deletions
diff --git a/digital/io-hub/src/common-cc/path.hh b/digital/io-hub/src/common-cc/path.hh
index d673d0cf..7806e537 100644
--- a/digital/io-hub/src/common-cc/path.hh
+++ b/digital/io-hub/src/common-cc/path.hh
@@ -32,9 +32,9 @@ extern "C" {
/** Static nodes index for the endpoints */
enum {
- PATH_NAVPOINT_SRC_IDX = 0,
- PATH_NAVPOINT_DST_IDX,
- PATH_RESERVED_NAVPOINTS_NB
+ CC_NAVPOINT_SRC_IDX = 0,
+ CC_NAVPOINT_DST_IDX,
+ CC_RESERVED_NAVPOINTS_NB
};
/** Obstacle */
@@ -85,14 +85,14 @@ class Path
/** Add an obstacle on the field */
void add_obstacle(const vect_t &c, uint16_t r, int nodes, const int nlayers, const uint16_t clearance, const bool target);
/** Number of possible mobile obstacles. */
- static const int PATH_OBSTACLES_NB = 4;
+ static const int CC_OBSTACLES_NB = 4;
/** Number of points per standard obstacle. */
- static const int PATH_OBSTACLES_NAVPOINTS_NB = 10;
+ static const int CC_OBSTACLE_NAVPOINTS_NB = 10;
/** Number of navigation points layers for each obstacle. */
- static const int PATH_OBSTACLES_NAVPOINTS_LAYERS = 2;
+ static const int CC_OBSTACLE_NAVPOINTS_LAYERS = 2;
/** Number of navigation points. */
- static const int PATH_NAVPOINTS_NB =
- (PATH_RESERVED_NAVPOINTS_NB + PATH_OBSTACLES_NAVPOINTS_LAYERS * PATH_OBSTACLES_NB * PATH_OBSTACLES_NAVPOINTS_NB);
+ static const int CC_NAVPOINTS_NB =
+ (CC_RESERVED_NAVPOINTS_NB + CC_OBSTACLE_NAVPOINTS_LAYERS * CC_OBSTACLES_NB * CC_OBSTACLE_NAVPOINTS_NB);
/** Borders, any point outside borders is eliminated. */
const uint16_t border_xmin, border_ymin, border_xmax, border_ymax;
/** List of obstacles. */
@@ -107,15 +107,15 @@ class Path
private:
/** Navigation points weight precision (2^-n).
* Pay attention to overflow on weight_t variables */
- static const int PATH_WEIGHT_PRECISION = 4;
+ static const int CC_NAVWEIGHT_PRECISION = 4;
/** Navigation points weight step * (2^-n). */
- static const int PATH_WEIGHT_STEP = 8;
+ static const int CC_NAVWEIGHT_STEP = 8;
/** 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;
+ static const uint16_t CC_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;
+ static const uint16_t CC_NAVPOINTS_CLEARANCE = 40;
/** Escape factor, 0 if none. */
weight_t escape_factor;
/** Number of obstacles */