Move GL-relevant macros

diff --git a/base/rrtbase.cc b/base/rrtbase.cc
index 563fc04d8364c3c99da74f1f2646b750985bc581..bbdd06eac1d8bc64944b04378e9a77dfde15b5e8 100644 (file)
--- a/base/rrtbase.cc
+++ b/base/rrtbase.cc
@@ -381,6 +381,8 @@ void RRTBase::slot_cusp(std::vector<RRTNode *> sc)
 bool RRTBase::glplot()
 {
 #if USE_GL > 0
+        float glplwscale = 1.0 / ((this->VMAX) - (this->VMIN));
+        float glplhscale = 1.0 / ((this->HMAX) - (this->HMIN));
         glClear(GL_COLOR_BUFFER_BIT);
         glLineWidth(1);
         glPointSize(1);
@@ -423,28 +425,28 @@ bool RRTBase::glplot()
                                 glColor3f(0.5, 0.5, 0.5);
                                 BicycleCar bc(tmp->x(), tmp->y(), tmp->h());
                                 glVertex2f(
-                                        bc.lfx() * GLPLWSCALE,
-                                        bc.lfy() * GLPLHSCALE
+                                        bc.lfx() * glplwscale,
+                                        bc.lfy() * glplhscale
                                 );
                                 glVertex2f(
-                                        bc.lrx() * GLPLWSCALE,
-                                        bc.lry() * GLPLHSCALE
+                                        bc.lrx() * glplwscale,
+                                        bc.lry() * glplhscale
                                 );
                                 glVertex2f(
-                                        bc.lrx() * GLPLWSCALE,
-                                        bc.lry() * GLPLHSCALE
+                                        bc.lrx() * glplwscale,
+                                        bc.lry() * glplhscale
                                 );
                                 glVertex2f(
-                                        bc.rrx() * GLPLWSCALE,
-                                        bc.rry() * GLPLHSCALE
+                                        bc.rrx() * glplwscale,
+                                        bc.rry() * glplhscale
                                 );
                                 glVertex2f(
-                                        bc.rrx() * GLPLWSCALE,
-                                        bc.rry() * GLPLHSCALE
+                                        bc.rrx() * glplwscale,
+                                        bc.rry() * glplhscale
                                 );
                                 glVertex2f(
-                                        bc.rfx() * GLPLWSCALE,
-                                        bc.rfy() * GLPLHSCALE
+                                        bc.rfx() * glplwscale,
+                                        bc.rfy() * glplhscale
                                 );
                         }
                 }

diff --git a/incl/rrtbase.h b/incl/rrtbase.h
index 0c61dbcf15338a0401877fb6f30fce5f742b3e79..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_;

diff --git a/incl/sample.h b/incl/sample.h
index ec0bb37a60b932ea736aaaf650827cbe8e4d2f46..5ced9bcf3e129381f8a9d9fdf956a17d5ee1036b 100644 (file)
--- a/incl/sample.h
+++ b/incl/sample.h
@@ -20,11 +20,6 @@ along with I am car. If not, see <http://www.gnu.org/licenses/>.
 
 #include "rrtnode.h"
 
-#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);