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authorNicolas Schodet2012-05-06 02:43:53 +0200
committerNicolas Schodet2012-05-06 11:06:44 +0200
commit0f23035edeb55c1362feeebae45099f7869bb35b (patch)
tree6f4cff36b60cb2d2994a4e204f9ac1d03eedf3a9 /digital/ai/src/move/radar.c
parentb6370787b3009ed094705d235ce53d90ff816804 (diff)
digital/ai: add sensor argument to radar_valid
Diffstat (limited to 'digital/ai/src/move/radar.c')
-rw-r--r--digital/ai/src/move/radar.c5
1 files changed, 1 insertions, 4 deletions
diff --git a/digital/ai/src/move/radar.c b/digital/ai/src/move/radar.c
index a572afba..7b9ef711 100644
--- a/digital/ai/src/move/radar.c
+++ b/digital/ai/src/move/radar.c
@@ -38,9 +38,6 @@
/** Define radar configuration. */
extern struct radar_sensor_t radar_sensors[RADAR_SENSOR_NB];
-uint8_t
-radar_valid (vect_t p);
-
/** Compute the center position from several radars sensors, return 1 if
* any. */
static uint8_t
@@ -89,7 +86,7 @@ radar_update (const position_t *robot_pos, vect_t *obs_pos)
vect_from_polar_uf016 (&ray, dist_mm[i],
robot_pos->a + radar_sensors[i].a);
vect_translate (&hit[i], &ray);
- valid[i] = radar_valid (hit[i]);
+ valid[i] = radar_valid (hit[i], i);
vect_from_polar_uf016 (&ray, RADAR_OBSTACLE_EDGE_RADIUS_MM,
robot_pos->a + radar_sensors[i].a);
vect_translate (&hit[i], &ray);