From cdbfdcdb5a56ef8707e2fe396fd0e5cdc1731d17 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 5 Apr 2013 01:49:25 +0200 Subject: digital/io-hub/src/apbirthday: add obstacles to path finding class --- digital/io-hub/src/common-cc/obstacles.cc | 14 ++++++++++++++ 1 file changed, 14 insertions(+) (limited to 'digital/io-hub/src/common-cc/obstacles.cc') 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); + } + } +} + -- cgit v1.2.3