From a86abce7d1f1567b2f67b42d97334d17fc52fd4d Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 13 Jun 2011 00:41:38 +0200 Subject: digital/io-hub: try to avoid dropped pawn --- digital/io-hub/src/robospierre/element.h | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) (limited to 'digital/io-hub/src/robospierre/element.h') diff --git a/digital/io-hub/src/robospierre/element.h b/digital/io-hub/src/robospierre/element.h index f9420cdb..243f5b94 100644 --- a/digital/io-hub/src/robospierre/element.h +++ b/digital/io-hub/src/robospierre/element.h @@ -191,15 +191,16 @@ element_get (uint8_t element_id) /** Return whether an element is blocking robot. */ uint8_t -element_blocking (uint8_t element_id); +element_blocking (uint8_t element_id, uint8_t blocking); /** Return whether an element is blocking a line segment. * - a: line segment first point. * - b: line segment second point. * - ab: line segment length. + * - escape: trying to escape, be a little bit more permissive. * - returns: 1 if the path should not be used. */ uint8_t -element_blocking_path (vect_t a, vect_t b, int16_t ab); +element_blocking_path (vect_t a, vect_t b, int16_t ab, uint8_t escape); /** Ask to adjust score for the opposed green zone. */ void -- cgit v1.2.3