}
}
+#ifdef AALGORITHM_DEBUG
+ char file_name[20];
+ sprintf(file_name,"map_x%3d_y%3d_a%1d", coor_contig.x,coor_contig.y, angle_index);
+
+ if(map_2_png(map, file_name)) {
+ printf("PATHPLAN: aAlgorithm : PNG file sucessfull created");
+ }
+ else {
+ printf("PATHPLAN: aAlgorithm : PNG file not created!");
+ }
+#endif
+
if ((!rot_left) && (!rot_right)) {
break;
}