From 0f23035edeb55c1362feeebae45099f7869bb35b Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 6 May 2012 02:43:53 +0200 Subject: digital/ai: add sensor argument to radar_valid --- digital/ai/src/move/radar.c | 5 +---- digital/ai/src/move/radar.h | 4 ++++ digital/io-hub/src/guybrush/radar_defs.c | 2 +- digital/io-hub/src/robospierre/radar_defs.c | 2 +- digital/io/src/radar_defs.c | 2 +- 5 files changed, 8 insertions(+), 7 deletions(-) (limited to 'digital') diff --git a/digital/ai/src/move/radar.c b/digital/ai/src/move/radar.c index a572afba..7b9ef711 100644 --- a/digital/ai/src/move/radar.c +++ b/digital/ai/src/move/radar.c @@ -38,9 +38,6 @@ /** Define radar configuration. */ extern struct radar_sensor_t radar_sensors[RADAR_SENSOR_NB]; -uint8_t -radar_valid (vect_t p); - /** Compute the center position from several radars sensors, return 1 if * any. */ static uint8_t @@ -89,7 +86,7 @@ radar_update (const position_t *robot_pos, vect_t *obs_pos) vect_from_polar_uf016 (&ray, dist_mm[i], robot_pos->a + radar_sensors[i].a); vect_translate (&hit[i], &ray); - valid[i] = radar_valid (hit[i]); + valid[i] = radar_valid (hit[i], i); vect_from_polar_uf016 (&ray, RADAR_OBSTACLE_EDGE_RADIUS_MM, robot_pos->a + radar_sensors[i].a); vect_translate (&hit[i], &ray); diff --git a/digital/ai/src/move/radar.h b/digital/ai/src/move/radar.h index 2e37d11d..b9ebc7e1 100644 --- a/digital/ai/src/move/radar.h +++ b/digital/ai/src/move/radar.h @@ -93,4 +93,8 @@ uint8_t radar_blocking (const vect_t *robot_pos, const vect_t *dest_pos, const vect_t *obs_pos, uint8_t obs_nb); +/** Define exclusion area (considered as invalid point). */ +uint8_t +radar_valid (vect_t p, uint8_t sensor); + #endif /* radar_h */ diff --git a/digital/io-hub/src/guybrush/radar_defs.c b/digital/io-hub/src/guybrush/radar_defs.c index 8fd626d6..663b2371 100644 --- a/digital/io-hub/src/guybrush/radar_defs.c +++ b/digital/io-hub/src/guybrush/radar_defs.c @@ -38,7 +38,7 @@ struct radar_sensor_t radar_sensors[RADAR_SENSOR_NB] = { /** Define exclusion area (considered as invalid point). */ uint8_t -radar_valid (vect_t p) +radar_valid (vect_t p, uint8_t sensor) { return p.x >= RADAR_MARGIN_MM && p.x < PG_WIDTH - RADAR_MARGIN_MM && p.y >= RADAR_MARGIN_MM && p.y < PG_LENGTH - RADAR_MARGIN_MM; diff --git a/digital/io-hub/src/robospierre/radar_defs.c b/digital/io-hub/src/robospierre/radar_defs.c index 778f2db1..169613a9 100644 --- a/digital/io-hub/src/robospierre/radar_defs.c +++ b/digital/io-hub/src/robospierre/radar_defs.c @@ -38,7 +38,7 @@ struct radar_sensor_t radar_sensors[RADAR_SENSOR_NB] = { /** Define exclusion area (considered as invalid point). */ uint8_t -radar_valid (vect_t p) +radar_valid (vect_t p, uint8_t sensor) { return p.x >= RADAR_MARGIN_MM && p.x < PG_WIDTH - RADAR_MARGIN_MM && p.y >= RADAR_MARGIN_MM && p.y < PG_LENGTH - RADAR_MARGIN_MM; diff --git a/digital/io/src/radar_defs.c b/digital/io/src/radar_defs.c index 2787ed97..0a67a3a1 100644 --- a/digital/io/src/radar_defs.c +++ b/digital/io/src/radar_defs.c @@ -42,7 +42,7 @@ struct radar_sensor_t radar_sensors[RADAR_SENSOR_NB] = { /** Define exclusion area (considered as invalid point). */ uint8_t -radar_valid (vect_t p) +radar_valid (vect_t p, uint8_t sensor) { return p.x >= RADAR_MARGIN_MM && p.x < PG_WIDTH - RADAR_MARGIN_MM && p.y >= RADAR_MARGIN_MM && p.y < PG_LENGTH - RADAR_MARGIN_MM -- cgit v1.2.3