From f2067b32e290f27fd891bb69e02f71d7226062e0 Mon Sep 17 00:00:00 2001 From: Olivier Lanneluc Date: Wed, 17 Apr 2013 01:26:18 +0200 Subject: Add type weight_t --- digital/io-hub/src/common-cc/path.hh | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) (limited to 'digital/io-hub/src/common-cc/path.hh') diff --git a/digital/io-hub/src/common-cc/path.hh b/digital/io-hub/src/common-cc/path.hh index 58db4623..4a3cb072 100644 --- a/digital/io-hub/src/common-cc/path.hh +++ b/digital/io-hub/src/common-cc/path.hh @@ -39,6 +39,8 @@ typedef struct path_obstacle_t uint16_t r; } path_obstacle_t; +typedef uint16_t weight_t; + /** Path finding class */ class Path { @@ -52,7 +54,7 @@ class Path /** Set path source and destination */ void endpoints(const vect_t &src, const vect_t &dst); /** Compute path with the given escape factor */ - void compute(uint16_t escape = 0); + void compute(weight_t escape = 0); /** Return a point vector by index */ vect_t& get_point_vect(const int index); /** Return a point index */ @@ -63,10 +65,10 @@ class Path /** Find all neighbors of a given node, fill the astar_neighbor structure */ int find_neighbors(int node, struct astar_neighbor_t *neighbors); /** Prepare score computation for the given source, with given escape factor */ - void prepare_score(const vect_t &src, uint16_t escape = 0); + void prepare_score(const vect_t &src, weight_t escape = 0); /** Return score for a given destination, using a previous preparation (also reuse previously given escape factor) */ - uint16_t get_score(const vect_t &dst); + weight_t get_score(const vect_t &dst); private: /** Add an obstacle on the field */ @@ -94,7 +96,7 @@ class Path /** Borders, any point outside borders is eliminated. */ const uint16_t border_xmin, border_ymin, border_xmax, border_ymax; /** Escape factor, 0 if none. */ - uint16_t escape_factor; + weight_t escape_factor; /** List of obstacles. */ path_obstacle_t obstacles[PATH_OBSTACLES_NB]; /** Number of obstacles */ @@ -102,7 +104,7 @@ class Path /** List of navigation points coordonates */ vect_t navpoints[PATH_NAVPOINTS_NB]; /** List of navigation points weights */ - uint32_t navweights[PATH_NAVPOINTS_NB]; + weight_t navweights[PATH_NAVPOINTS_NB]; /** Number of navigation points */ int navpoints_nb; /** List of nodes used for A*. */ -- cgit v1.2.3