pathplan: Changed approach to problem solving non-holomic problem, removed redundant...

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

diff --git a/src/pathplan/aalgorithm.h b/src/pathplan/aalgorithm.h
index e8fb9c3e2b7c0198a1b98eeff6cd6d499c3e9735..55a5ae32072ae280e2ea5d61ab94aa245ccf6218 100644 (file)
--- a/src/pathplan/aalgorithm.h
+++ b/src/pathplan/aalgorithm.h
@@ -12,6 +12,7 @@
 #include <rbtree.h>
 #endif
 
+
 /**
  * Information of a cell in A* Algorithm
 */
@@ -30,26 +31,6 @@ typedef struct _GraphMapCell {
 #endif
 } GraphMapCell;
 
-//bitmap max. dimension of robot (robodim.h) calculate to cell dimension
-//TODO calculate automatic
-
-#define TESTBITMAPS
-
-#define BITMAP_AB 9    //AB/MAP_CELL_SIZE_MM 
-#define BITMAP_AF 2    //AF/MAP_CELL_SIZE_MM 
-#define BITMAP_W2 6    //W/2/MAP_CELL_SIZE_MM 
-
-#define BITMAP_AB_ACROSS 6     //AB/MAP_CELL_SIZE_MM 
-#define BITMAP_AF_ACROSS 2     //AF/MAP_CELL_SIZE_MM 
-#define BITMAP_W2_ACROSS 5     //W/2/MAP_CELL_SIZE_MM 
-
-typedef struct {
-  int x_min;
-  int x_max;
-  int y_min;
-  int y_max;
-} bitmap_dim;
-
 #ifdef __cplusplus
 extern "C" {
 #endif 
@@ -59,18 +40,8 @@ int aAlgorithm(double xstart_real,double ystart_real, double xgoal_real, double
 
 int aAlgorithm_shape(double xstart_real,double ystart_real, double xgoal_real, double ygoal_real, double start_angle, double goal_angle, GraphMapCell **original_path);
 
-#ifdef TESTBITMAPS
-void init_bitmap(bitmap_dim bitmap[], int bitmap_ab, int bitmap_af, int bitmap_w2);
-bool check_bot_position_straight(int x_0, int y_0, bitmap_dim bitmap_straight[], int angle);
-bool check_bot_position_across(int x_0, int y_0, bitmap_dim bitmap_across[], int angle);
-bool check_bot_position(int x_0, int y_0, bitmap_dim bitmap_straight[], bitmap_dim bitmap_across[], int angle
-);
-#endif
 #ifdef __cplusplus
 }
 #endif 
 
-
-
-
 #endif  /* _AALGORITHM_H */