From f5905f31bdfb051aefe0cf04e0caef976027cc2b Mon Sep 17 00:00:00 2001 From: Olivier Lanneluc Date: Fri, 3 May 2013 19:03:39 +0200 Subject: digital/io-hub/src: rename Path and Path_2013 constants for clearness --- digital/io-hub/src/common-cc/path.hh | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) (limited to 'digital/io-hub/src/common-cc/path.hh') 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 */ -- cgit v1.2.3