pathplan: parameter astar_method, change type char to enum

diff --git a/src/pathplan/path_planner.c b/src/pathplan/path_planner.c
index 592fc9f6b302a215aa4cdc42665b0faa4a4cb34a..2135affb8f53a3d4b91d950dadb328e391830d68 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 * angle, char astar_method)
+int path_planner(double xstart_real,double ystart_real, double xgoal_real, double ygoal_real , PathPoint ** simple_path, double * angle, _astar_method astar_method)
 {
        int nbpoints, count;
         int ret;

diff --git a/src/pathplan/path_planner.h b/src/pathplan/path_planner.h
index 148b01b141a5a3577a78cd941890e9c5b285ad00..c8a36da08e4c9b6a97a30c9e4fc842dc5b039371 100644 (file)
--- a/src/pathplan/path_planner.h
+++ b/src/pathplan/path_planner.h
@@ -58,8 +58,10 @@
  * @{
  */
 
-#define ASTAR_METHOD_SHAPE 0
-#define ASTAR_METHOD_POINT 1
+enum _astar_method {
+ASTAR_METHOD_POINT,
+ASTAR_METHOD_SHAPE
+};
 
 /**
  * @name Path Planner Error Codes 
@@ -74,7 +76,7 @@
 extern "C" {
 #endif 
                
-       int path_planner(double xstart_real,double ystart_real, double xgoal_real, double ygoal_real , PathPoint ** simple_path, double * angle, char astar_method);
+       int path_planner(double xstart_real,double ystart_real, double xgoal_real, double ygoal_real , PathPoint ** simple_path, double * angle, _astar_method astar_method);
                
 #ifdef __cplusplus
 }