summaryrefslogtreecommitdiff
path: root/digital/io-hub/src/robospierre/element.c
diff options
context:
space:
mode:
authorNicolas Schodet2011-06-01 19:16:38 +0200
committerNicolas Schodet2011-06-01 21:48:47 +0200
commitdadddea9392f78a360969b72a4dc045b4d87dfec (patch)
treea5a4454a0cdbbad9f621a69d7ef5a485fa9b8763 /digital/io-hub/src/robospierre/element.c
parent8d758c96d257b15edc49dd4cb774ce67becf8cf1 (diff)
digital/io-hub: handle element with path finding
Diffstat (limited to 'digital/io-hub/src/robospierre/element.c')
-rw-r--r--digital/io-hub/src/robospierre/element.c60
1 files changed, 35 insertions, 25 deletions
diff --git a/digital/io-hub/src/robospierre/element.c b/digital/io-hub/src/robospierre/element.c
index 896382b6..b0c38265 100644
--- a/digital/io-hub/src/robospierre/element.c
+++ b/digital/io-hub/src/robospierre/element.c
@@ -704,6 +704,13 @@ element_get_pos (uint8_t element_id)
}
uint8_t
+element_blocking (uint8_t element_id)
+{
+ element_t e = element_get (element_id);
+ return e.type == ELEMENT_TOWER;
+}
+
+uint8_t
element_blocking_path (vect_t a, vect_t b, int16_t ab)
{
uint8_t i;
@@ -712,33 +719,36 @@ element_blocking_path (vect_t a, vect_t b, int16_t ab)
for (i = 0; i < UTILS_COUNT (element_table); i++)
{
e = element_get (i);
- /* Compute square of distance to obstacle, see
- * distance_segment_point in modules/math/geometry for the method
- * explanation. */
- int32_t absq = (int32_t) ab * ab;
- vect_t vab = b; vect_sub (&vab, &a);
- vect_t vao = e.pos; vect_sub (&vao, &a);
- int32_t dp = vect_dot_product (&vab, &vao);
- int32_t dsq;
- if (dp < 0)
- {
- dsq = vect_dot_product (&vao, &vao);
- }
- else if (dp > absq)
- {
- vect_t vbo = e.pos; vect_sub (&vbo, &b);
- dsq = vect_dot_product (&vbo, &vbo);
- }
- else
+ if (e.type == ELEMENT_TOWER)
{
- vect_t vabn = vab; vect_normal (&vabn);
- dsq = vect_dot_product (&vabn, &vao) / ab;
- dsq *= dsq;
+ /* Compute square of distance to obstacle, see
+ * distance_segment_point in modules/math/geometry for the method
+ * explanation. */
+ int32_t absq = (int32_t) ab * ab;
+ vect_t vab = b; vect_sub (&vab, &a);
+ vect_t vao = e.pos; vect_sub (&vao, &a);
+ int32_t dp = vect_dot_product (&vab, &vao);
+ int32_t dsq;
+ if (dp < 0)
+ {
+ dsq = vect_dot_product (&vao, &vao);
+ }
+ else if (dp > absq)
+ {
+ vect_t vbo = e.pos; vect_sub (&vbo, &b);
+ dsq = vect_dot_product (&vbo, &vbo);
+ }
+ else
+ {
+ vect_t vabn = vab; vect_normal (&vabn);
+ dsq = vect_dot_product (&vabn, &vao) / ab;
+ dsq *= dsq;
+ }
+ /* Compare with square of authorised distance. */
+ if (dsq < (int32_t) (BOT_ELEMENT_RADIUS + BOT_SIZE_SIDE + 20) *
+ (BOT_ELEMENT_RADIUS + BOT_SIZE_SIDE + 20))
+ return 1;
}
- /* Compare with square of authorised distance. */
- if (dsq < (int32_t) (BOT_ELEMENT_RADIUS + BOT_SIZE_SIDE + 20) *
- (BOT_ELEMENT_RADIUS + BOT_SIZE_SIDE + 20))
- return 1;
}
return 0;
}