robofsm: MapHandling - change functions to accept new interface

diff --git a/src/robofsm/map_handling.cc b/src/robofsm/map_handling.cc
index a8ef3e6d87cf031776744bb7988d45d44ad9b654..b46699e7e503506713bfb9892eb39b456ace5761 100644 (file)
--- a/src/robofsm/map_handling.cc
+++ b/src/robofsm/map_handling.cc
@@ -46,7 +46,7 @@ void obstacle_detected_at(double x, double y, bool real_obstacle)
         * #OBS_CSPACE. */
 
        /* Mark "protected" area around the obstacle */
-       robot_get_est_pos(&est_pos.x, &est_pos.y, &est_pos.phi);
+       robot.get_est_pos(est_pos.x, est_pos.y, est_pos.phi);
 
        int safety_area = (int)ceil(0.2/MAP_CELL_SIZE_M);
 
@@ -93,7 +93,7 @@ void update_map_hokuyo(struct hokuyo_scan_type *s)
        struct robot_pos_type beam;
        u_int16_t *data;
 
-       robot_get_est_pos(&e.x, &e.y, &e.phi);
+       robot.get_est_pos(e.x, e.y, e.phi);
 
        beam.x = HOKUYO_CENTER_OFFSET_M;
        beam.y = 0;