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-rw-r--r--digital/io-hub/src/common-cc/path.hh7
1 files changed, 4 insertions, 3 deletions
diff --git a/digital/io-hub/src/common-cc/path.hh b/digital/io-hub/src/common-cc/path.hh
index b25d4235..beb3a3e5 100644
--- a/digital/io-hub/src/common-cc/path.hh
+++ b/digital/io-hub/src/common-cc/path.hh
@@ -104,10 +104,11 @@ class Path
PATH_CAKE_NAVPOINTS_LAYERS * (PATH_CAKE_NAVPOINTS_NB - PATH_OBSTACLES_NAVPOINTS_NB) +
#endif
PATH_OBSTACLES_NAVPOINTS_LAYERS * (PATH_OBSTACLES_NB * PATH_OBSTACLES_NAVPOINTS_NB));
- /** Navigation points weight precision (2^-n). */
+ /** Navigation points weight precision (2^-n).
+ * Pay attention to overflow on weight_t variables */
static const int PATH_WEIGHT_PRECISION = 4;
- /** Navigation points weight step (2^-n). */
- static const int PATH_WEIGHT_STEP = 6;
+ /** Navigation points weight step * (2^-n). */
+ static const int PATH_WEIGHT_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;