Change guided sampling

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

diff --git a/incl/slotplanner.h b/incl/slotplanner.h
index f10b7def354653ce59f983d1fa2f26ab68ab3f89..343888da6aa64f14ba04420f27141aef5da48ede 100644 (file)
--- a/incl/slotplanner.h
+++ b/incl/slotplanner.h
@@ -34,15 +34,12 @@ enum SlotType {
 };
 
 struct SamplingInfo {
+        float x0;
+        float y0;
+        float h0;
         float x;
         float y;
-        float r; // max radi from [x, y] for random sample
-        float mr; // minimum r added to random r
-        float h; // max angle for random sample
-        float mh; // max angle for heading of random sample
-        float mmh; // minimum mh added to mh
-        float sh; // slot heading
-        float dh; // direction to compute random heading from slot heading
+        float h;
 };
 
 class ParallelSlot {