robofsm: Obstacle avoidance disabled by default

[eurobot/public.git] / src / robofsm / eb2008 / fsmmove.cc

diff --git a/src/robofsm/eb2008/fsmmove.cc b/src/robofsm/eb2008/fsmmove.cc
index 4ab02632f1d0da217937fb9e6ee46f644827e180..f98a586ee90a2481d7774e0d560238ade21e7e03 100644 (file)
--- a/src/robofsm/eb2008/fsmmove.cc
+++ b/src/robofsm/eb2008/fsmmove.cc
@@ -143,7 +143,8 @@ static void do_control()
                t = (double)(tv.tv_usec - tv_start.tv_usec) / 1000000.0;
                t += (tv.tv_sec - tv_start.tv_sec);
 
-               check_for_collision_in_future(w, t);
+               if (robot.obstacle_avoidance_enabled)
+                       check_for_collision_in_future(w, t);
 
                done = w->getRefPos(t, ref_pos);