robofsm: Mark only the real obstacle in the map.

diff --git a/src/robofsm/map_handling.c b/src/robofsm/map_handling.c
index 81679c5f4ac15d37926d3a8c49a3168a21fd89ac..b75e8dd38ca07c27806c63bc51d5372c0893b4b7 100644 (file)
--- a/src/robofsm/map_handling.c
+++ b/src/robofsm/map_handling.c
@@ -46,6 +46,7 @@ void obstacle_detected_at(double x, double y, bool real_obstacle)
         * cell between them, the path will be recalculated. @see
         * #OBS_CSPACE. */
 
+#if 0
        /* Mark "protected" area around the obstacle */
        robot_get_est_pos(&est_pos.x, &est_pos.y, &est_pos.phi);
 
@@ -60,6 +61,7 @@ void obstacle_detected_at(double x, double y, bool real_obstacle)
                        }
                }
        }
+#endif
 }
 /**
  * A thread running the trajectory recalc
@@ -107,8 +109,6 @@ void update_map_hokuyo(struct hokuyo_scan_type *s)
                if(data[i] > 19 && data[i] < 4000) {
                        obst_coord(&e, &beam, data[i]/1000.0, &x, &y);
                        obstacle_detected_at(x, y, true);
-                       obst_coord(&e, &beam, (data[i]/1000.0)+0.3, &x, &y);
-                       obstacle_detected_at(x, y, false);
                }
 
        }