summaryrefslogtreecommitdiff
path: root/digital/io-hub/src/common-cc/obstacles.cc
diff options
context:
space:
mode:
authorNicolas Schodet2013-04-05 01:49:25 +0200
committerNicolas Schodet2013-04-05 01:49:25 +0200
commitcdbfdcdb5a56ef8707e2fe396fd0e5cdc1731d17 (patch)
tree78c8379e1d9837b6f936c14a5839c4ac583f3716 /digital/io-hub/src/common-cc/obstacles.cc
parente12d94361fa1e9cef8ef5dfdde492b747d79b74e (diff)
digital/io-hub/src/apbirthday: add obstacles to path finding class
Diffstat (limited to 'digital/io-hub/src/common-cc/obstacles.cc')
-rw-r--r--digital/io-hub/src/common-cc/obstacles.cc14
1 files changed, 14 insertions, 0 deletions
diff --git a/digital/io-hub/src/common-cc/obstacles.cc b/digital/io-hub/src/common-cc/obstacles.cc
index 1c02cce6..882744e8 100644
--- a/digital/io-hub/src/common-cc/obstacles.cc
+++ b/digital/io-hub/src/common-cc/obstacles.cc
@@ -143,3 +143,17 @@ Obstacles::blocking (const vect_t &robot, const vect_t &dest) const
return false;
}
+void
+Obstacles::add_obstacles (Path &path) const
+{
+ int index = 0;
+ for (int i = 0; i < obstacles_nb_; i++)
+ {
+ if (obstacles_[i].valid)
+ {
+ path.obstacle (index++, obstacles_[i].pos,
+ obstacle_radius_mm + clearance_mm + BOT_SIZE_SIDE);
+ }
+ }
+}
+