From bbd0d642484b2865b8290e70e5b7c4ba45a41856 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 8 Apr 2013 22:14:52 +0200 Subject: digital/io-hub/src/apbirthday: change Asserv::get_position syntax --- digital/io-hub/src/common-cc/move.cc | 15 +++++---------- 1 file changed, 5 insertions(+), 10 deletions(-) (limited to 'digital/io-hub/src/common-cc/move.cc') diff --git a/digital/io-hub/src/common-cc/move.cc b/digital/io-hub/src/common-cc/move.cc index a4d490bc..bdbd3da0 100644 --- a/digital/io-hub/src/common-cc/move.cc +++ b/digital/io-hub/src/common-cc/move.cc @@ -69,8 +69,7 @@ Move::check_obstacles () { if (FSM_CAN_HANDLE (AI, obstacle_blocking)) { - Position robot_pos; - robot->asserv.get_position (robot_pos); + Position robot_pos = robot->asserv.get_position (); if (robot->obstacles.blocking (robot_pos.v, step_)) if (FSM_HANDLE (AI, obstacle_blocking)) return true; @@ -116,8 +115,7 @@ Move::go () if (step_final_move_ && shorten_) { // Compute a vector from destination to robot with lenght 'shorten'. - Position robot_position; - robot->asserv.get_position (robot_position); + Position robot_position = robot->asserv.get_position (); vect_t v = robot_position.v; vect_sub (&v, &step_); int d = vect_norm (&v); @@ -140,8 +138,7 @@ Move::NextMove Move::go_or_rotate (const vect_t &dst, uint16_t angle, bool with_angle, Asserv::DirectionConsign direction_consign) { - Position robot_position; - robot->asserv.get_position (robot_position); + Position robot_position = robot->asserv.get_position (); uint16_t robot_angle = robot_position.a; if (direction_consign & Asserv::BACKWARD) robot_angle += 0x8000; @@ -205,8 +202,7 @@ Move::path_init () bool found; vect_t dst; // Get the current position - Position current_pos; - robot->asserv.get_position (current_pos); + Position current_pos = robot->asserv.get_position (); // Give the current position of the bot to the path module robot->path.reset (); robot->obstacles.add_obstacles (robot->path); @@ -320,8 +316,7 @@ move_back_up (void) back_dist = 300; } // Assume there is an obstacle in front of the robot. - Position robot_pos; - robot->asserv.get_position (robot_pos); + Position robot_pos = robot->asserv.get_position (); vect_t obstacle_pos; vect_from_polar_uf016 (&obstacle_pos, dist, robot_pos.a); vect_translate (&obstacle_pos, &robot_pos.v); -- cgit v1.2.3