From 7b61cbeddc510f88ad014dbb3c4fa6517f0766d3 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 8 Apr 2013 21:59:23 +0200 Subject: digital/io-hub/src/common-cc: give stop distance as parameter --- digital/io-hub/src/common-cc/obstacles.hh | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) (limited to 'digital/io-hub/src/common-cc/obstacles.hh') diff --git a/digital/io-hub/src/common-cc/obstacles.hh b/digital/io-hub/src/common-cc/obstacles.hh index 6b65dfc6..9a87f895 100644 --- a/digital/io-hub/src/common-cc/obstacles.hh +++ b/digital/io-hub/src/common-cc/obstacles.hh @@ -44,7 +44,8 @@ class Obstacles void add (const vect_t &pos); /// Return true if there is an obstacle near the robot while going to a /// destination point. - bool blocking (const vect_t &robot, const vect_t &dest) const; + bool blocking (const vect_t &robot, const vect_t &dest, int stop_mm_ = -1) + const; /// Setup obstacles in path finding object. void add_obstacles (Path &path) const; public: @@ -81,7 +82,7 @@ class Obstacles { /// Position. vect_t pos; - /// Validity period as a number of cycles, or 0 if unvalid. + /// Validity period as a number of cycles, or 0 if invalid. int valid; }; /// Number of obstacles. -- cgit v1.2.3