fsmmove: Added ARRIVE_FROM target angle operation and several move helper functions

[eurobot/public.git] / src / motion / trgenconstr.h

diff --git a/src/motion/trgenconstr.h b/src/motion/trgenconstr.h
index 7eed37ea9e51dc2aa644e11d2c52138d5777de6b..3408ffffde75384b800b525aeef3c4b9da7b720e 100644 (file)
--- a/src/motion/trgenconstr.h
+++ b/src/motion/trgenconstr.h
@@ -18,26 +18,12 @@ enum turn_type {
        FH_DONT_TURN,
        FH_CW,          /* Clockwise */
        FH_CCW,         /* Counter-clockwise */
-       FH_SHORTEST     /* Shortest turn */
+       FH_SHORTEST,    /* Shortest turn */
 };
 
 struct final_heading {
        enum turn_type turn_type;
-       double heading;         /* Heading in rad */
+       float heading;          /* Heading in rad */
 };
 
-static inline struct final_heading *__turn(enum turn_type tt, double heading)
-{
-       static struct final_heading fh;
-       fh.turn_type = tt;
-       fh.heading = heading;
-       return &fh;
-}
-
-/* FIXME: Use GCC extension for this */
-#define TURN(heading) __turn(FH_SHORTEST, (heading))
-#define TURN_CW(heading) __turn(FH_CW, (heading))
-#define TURN_CCW(heading) __turn(FH_CCW, (heading))
-#define NO_TURN() __turn(FH_DONT_TURN, 0)
-
 #endif