Move GL-relevant macros

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

diff --git a/incl/rrtbase.h b/incl/rrtbase.h
index 54557adf9980c487689df10b23783bc100f15208..765b4958fa2789f60950a42a51346d9c36106cdd 100644 (file)
--- a/incl/rrtbase.h
+++ b/incl/rrtbase.h
@@ -43,6 +43,8 @@ along with I am car. If not, see <http://www.gnu.org/licenses/>.
         (int) floor((_y - VMIN) / IYSTEP); \
 })
 
+#define GLVERTEX(n) ((n)->x() * glplwscale), ((n)->y() * glplhscale)
+
 class Cell {
         private:
                 std::vector<RRTNode *> nodes_;
@@ -163,8 +165,8 @@ class RRTBase {
                 bool rebase(RRTNode *nr);
                 std::vector<RRTNode *> findt();
                 std::vector<RRTNode *> findt(RRTNode *n);
-                float XI(RRTNode *n);
-                float YI(RRTNode *n);
+                int XI(RRTNode *n);
+                int YI(RRTNode *n);
 
                 // RRT Framework
                 void setSamplingInfo(SamplingInfo si);