From aa622f6cfbe6e8fb0fa334a9c0d38af9927e9990 Mon Sep 17 00:00:00 2001 From: Olivier Lanneluc Date: Sat, 4 May 2013 12:38:41 +0200 Subject: digital/io-hub/src/apbirthday/path: switch to static memory allocation --- digital/io-hub/src/apbirthday/path_2013.cc | 16 ++++------------ digital/io-hub/src/apbirthday/path_2013.hh | 11 +++++++++-- 2 files changed, 13 insertions(+), 14 deletions(-) (limited to 'digital/io-hub') diff --git a/digital/io-hub/src/apbirthday/path_2013.cc b/digital/io-hub/src/apbirthday/path_2013.cc index 1c5acdbe..a4597b2c 100644 --- a/digital/io-hub/src/apbirthday/path_2013.cc +++ b/digital/io-hub/src/apbirthday/path_2013.cc @@ -35,18 +35,10 @@ Path_2013::Path_2013() : Path( (pg_border_distance + pg_plate_size_border*2 + BO (pg_length - pg_border_distance)) { host_debug("Path_2013 constructor\n"); - obstacles = new path_obstacle_t[PATH_2013_OBSTACLES_NB]; - navpoints = new vect_t[PATH_2013_NAVPOINTS_NB]; - navweights = new weight_t[PATH_2013_NAVPOINTS_NB]; - astar_nodes = new struct astar_node_t[PATH_2013_NAVPOINTS_NB]; -} - -Path_2013::~Path_2013() -{ - delete[] obstacles; - delete[] navpoints; - delete[] navweights; - delete[] astar_nodes; + obstacles = obstacles_2013; + navpoints = navpoints_2013; + navweights = navweights_2013; + astar_nodes = astar_nodes_2013; } void Path_2013::reset() diff --git a/digital/io-hub/src/apbirthday/path_2013.hh b/digital/io-hub/src/apbirthday/path_2013.hh index 4018727d..3823ff71 100644 --- a/digital/io-hub/src/apbirthday/path_2013.hh +++ b/digital/io-hub/src/apbirthday/path_2013.hh @@ -33,8 +33,6 @@ class Path_2013 : public Path public: /** Constructor */ Path_2013(); - /** Destructor */ - ~Path_2013(); /** (overloaded) Reset path computation, remove mobile obstacles, add static obstacles */ void reset(void); @@ -48,6 +46,15 @@ class Path_2013 : public Path /** Number of additional navigation points. */ static const int PATH_2013_NAVPOINTS_NB = CC_NAVPOINTS_NB + PATH_2013_CAKE_NAVPOINTS_LAYERS * PATH_2013_CAKE_NAVPOINTS_NB; + + /** List of obstacles. */ + path_obstacle_t obstacles_2013[PATH_2013_OBSTACLES_NB]; + /** List of navigation points coordonates */ + vect_t navpoints_2013[PATH_2013_NAVPOINTS_NB]; + /** List of navigation points weights */ + weight_t navweights_2013[PATH_2013_NAVPOINTS_NB]; + /** List of nodes used for A*. */ + struct astar_node_t astar_nodes_2013[PATH_2013_NAVPOINTS_NB]; }; #endif // path_2013_hh -- cgit v1.2.3