From 2b64279361e633638c4246d2da7e9688a524c87d Mon Sep 17 00:00:00 2001 From: Petr Silhavik Date: Sun, 17 Feb 2013 17:56:42 +0100 Subject: [PATCH] robofsm: MapHandling - change functions to accept new interface --- src/robofsm/map_handling.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/robofsm/map_handling.cc b/src/robofsm/map_handling.cc index a8ef3e6d..b46699e7 100644 --- a/src/robofsm/map_handling.cc +++ b/src/robofsm/map_handling.cc @@ -46,7 +46,7 @@ void obstacle_detected_at(double x, double y, bool real_obstacle) * #OBS_CSPACE. */ /* Mark "protected" area around the obstacle */ - robot_get_est_pos(&est_pos.x, &est_pos.y, &est_pos.phi); + robot.get_est_pos(est_pos.x, est_pos.y, est_pos.phi); int safety_area = (int)ceil(0.2/MAP_CELL_SIZE_M); @@ -93,7 +93,7 @@ void update_map_hokuyo(struct hokuyo_scan_type *s) struct robot_pos_type beam; u_int16_t *data; - robot_get_est_pos(&e.x, &e.y, &e.phi); + robot.get_est_pos(e.x, e.y, e.phi); beam.x = HOKUYO_CENTER_OFFSET_M; beam.y = 0; -- 2.39.2