Use normal distribution in sampling

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

diff --git a/incl/sample.h b/incl/sample.h
index 886f82b6fd808c1df4f5c2d3794c29618289e995..4c7c3e743896c43155d9f007450d2662e6aa52e7 100644 (file)
--- a/incl/sample.h
+++ b/incl/sample.h
@@ -20,11 +20,21 @@ along with I am car. If not, see <http://www.gnu.org/licenses/>.
 
 #include "rrtnode.h"
 
-#define HMIN 0 // horizontal
-#define HMAX 26 // horizontal
-#define VMIN -5.3 // vertical
-#define VMAX 5.5 // vertical
+#define HMIN -20 // horizontal
+#define HMAX 20 // horizontal
+#define VMIN -5 // vertical
+#define VMAX 30 // vertical
+
+// OpenGL window size
+#define SCREEN_WIDTH 1000
+#define SCREEN_HEIGHT 1000
+
+#define GLPLWSCALE (1.0 / ((VMAX) - (VMIN)))
+#define GLPLHSCALE (1.0 / ((HMAX) - (HMIN)))
+
+#define GLVERTEX(n) ((n)->x() * GLPLWSCALE), ((n)->y() * GLPLHSCALE)
 
 RRTNode *sa1();
+RRTNode *sa2(float bx, float by, float br);
 
 #endif