Move sampling range constants

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9c2263ceadec0b204d3d1ebf62527e1cdba85e0d..6893951587f25192ee2879d0aa046e7f4a303377 100644 (file)
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -28,9 +28,6 @@ add_executable(go_car_go
 
         base/main.cc
 
-        base/nn.cc
-        base/nv.cc
-        base/sample.cc
         base/rrtbase.cc
         base/rrtnode.cc
 

diff --git a/incl/rrtbase.h b/incl/rrtbase.h
index d8337e1e7cbdd7242d8afa6d65faafab6540490f..54557adf9980c487689df10b23783bc100f15208 100644 (file)
--- a/incl/rrtbase.h
+++ b/incl/rrtbase.h
@@ -91,6 +91,10 @@ class RRTBase {
         public:
                 const float GOAL_FOUND_DISTANCE = 0.2;
                 const float GOAL_FOUND_ANGLE = M_PI / 32;
+                float HMIN = -20;
+                float HMAX = 20;
+                float VMIN = -5;
+                float VMAX = 30;
 
                 ~RRTBase();
                 RRTBase();

diff --git a/incl/sample.h b/incl/sample.h
index 50c0c14eda1fa0340cecdc1725d110062c2f92ed..ec0bb37a60b932ea736aaaf650827cbe8e4d2f46 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 HMIN -20 // horizontal
-#define HMAX 20 // horizontal
-#define VMIN -5 // vertical
-#define VMAX 30 // vertical
-
 #define GLPLWSCALE (1.0 / ((VMAX) - (VMIN)))
 #define GLPLHSCALE (1.0 / ((HMAX) - (HMIN)))