pathplan: removed path_plan function parameter astar_method, robot as point aproach...

[eurobot/public.git] / src / pathplan / aalgorithm.h

diff --git a/src/pathplan/aalgorithm.h b/src/pathplan/aalgorithm.h
index f9dea58691969a0c4270cd1676a475cc8bdd66fb..118f81bfc7d57c4501081c4ee066b71bb3f05fb1 100644 (file)
--- a/src/pathplan/aalgorithm.h
+++ b/src/pathplan/aalgorithm.h
@@ -13,6 +13,7 @@
 #endif
 
 #define AALGORITHM_DEBUG
+//#define HOLOMIC
 
 /**
  * Information of a cell in A* Algorithm
@@ -37,9 +38,11 @@ extern "C" {
 #endif 
 void GraphCell2XY(GraphMapCell *c, int *x, int *y);
 
+#ifdef HOLOMIC
 int aAlgorithm(double xstart_real,double ystart_real, double xgoal_real, double ygoal_real, GraphMapCell **original_path);
+#endif
 
-int aAlgorithm_shape(double xstart_real,double ystart_real, double xgoal_real, double ygoal_real, double start_angle, double goal_angle, GraphMapCell **original_path);
+int aAlgorithm(double xstart_real,double ystart_real, double xgoal_real, double ygoal_real, double start_angle, double goal_angle, GraphMapCell **original_path);
 
 #ifdef __cplusplus
 }