Find final path only when goal found

[hubacji1/iamcar.git] / incl / bcar.h

diff --git a/incl/bcar.h b/incl/bcar.h
index c09c65239749b00179accc3eab199493559e134c..fabbfafcf3d4926d6908a723a16c25dfae8a3959 100644 (file)
--- a/incl/bcar.h
+++ b/incl/bcar.h
@@ -34,6 +34,10 @@ along with I am car. If not, see <http://www.gnu.org/licenses/>.
 #define BCAR_OUT_RADI pow( \
         pow(BCAR_TURNING_RADIUS + BCAR_WIDTH/2, 2) + \
         pow(BCAR_DIST_FRONT, 2), 0.5)
+#define BCAR_OUT_RRADI pow( \
+        pow(BCAR_TURNING_RADIUS + BCAR_WIDTH/2, 2) + \
+        pow(BCAR_DIST_REAR, 2), 0.5)
+#define BCAR_IN_RADI (BCAR_TURNING_RADIUS - BCAR_WIDTH/2)
 
 #define MAXSTEER(wb, tr) ((wb) / (tr))