pathplan: removed path_plan function parameter astar_method, robot as point aproach...

[eurobot/public.git] / src / pathplan / path_planner.c

diff --git a/src/pathplan/path_planner.c b/src/pathplan/path_planner.c
index ef7c33aed1c773a15688d30dba01e3f1e0984fe6..7818c49dca43c13dbd8b316f70f08d88078cc461 100644 (file)
--- a/src/pathplan/path_planner.c
+++ b/src/pathplan/path_planner.c
@@ -71,7 +71,7 @@ static void add_safety_margin()
  */
 
 
-int path_planner(double xstart_real,double ystart_real, double xgoal_real, double ygoal_real , PathPoint ** simple_path, double * start_angle, double * goal_angle, enum _astar_method astar_method)
+int path_planner(double xstart_real,double ystart_real, double xgoal_real, double ygoal_real , PathPoint ** simple_path, double * start_angle, double * goal_angle)
 {
        int nbpoints, count;
         int ret;
@@ -86,9 +86,9 @@ int path_planner(double xstart_real,double ystart_real, double xgoal_real, doubl
                return PP_ERROR_MAP_NOT_INIT;
        }
        
-       if ( astar_method == ASTAR_METHOD_POINT){
+#ifdef HOLOMIC
            add_safety_margin();
-       }
+#endif
        
 
        // If the goal map is not free, abort.
@@ -100,12 +100,11 @@ int path_planner(double xstart_real,double ystart_real, double xgoal_real, doubl
         pthread_mutex_lock(&plan_mutex);
        
        // Call to A* algorithm
-       if ( astar_method == ASTAR_METHOD_POINT ){
-             nbpoints = aAlgorithm(xstart_real,ystart_real, xgoal_real, ygoal_real, &astar_path);
-       }
-       else{
-             nbpoints = aAlgorithm_shape(xstart_real,ystart_real, xgoal_real, ygoal_real, *start_angle, *goal_angle, &astar_path);
-       }
+#ifdef HOLOMIC
+       nbpoints = aAlgorithm(xstart_real,ystart_real, xgoal_real, ygoal_real, &astar_path);
+#else
+       nbpoints = aAlgorithm(xstart_real,ystart_real, xgoal_real, ygoal_real, *start_angle, *goal_angle, &astar_path);
+#endif
        
        if (nbpoints < 0) {
                 ret = PP_ERROR_GOAL_NOT_REACHABLE;