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// goto_simple.cc
// nono - programme du robot 2004. {{{
//
// Copyright (C) 2004 Nicolas Schodet
//
// Robot APB Team/Efrei 2004.
//        Web: http://assos.efrei.fr/robot/
//      Email: robot AT efrei DOT fr
//
// 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 "goto_simple.h"

/// Constructeur.
/// (dx, dy) : position d'arriv�e (mm).
GotoSimple::GotoSimple (double dx, double dy)
    : dx_ (dx), dy_ (dy)
{
}

/// Fournit la distance au point final (mm), le point le plus loin � moins
/// de distmax (mm) et renvois false si le Goto est fini.
/// eps : distance (mm) en dessous de laquelle on consid�re que la destination
/// est atteinte.
/// distmax : distance (mm) maximale du point.
/// dist : distance (mm) au point final.
/// (x, y) : point interm�diaire (mm).
bool
GotoSimple::get (const Tracker &t, double distmax, double eps, double &dist,
		 double &x, double &y)
{
    dist = t.getDistance (dx_, dy_);
    t.getPoint (dx_, dy_, x, y, distmax);
    return dist > eps;
}