- double distance;
-
-// if (arcs.size() > 0) {
-// for (i = 0; i < arcs.size(); i++) {
-// x = arcs[i].center.x / 1000;
-// y = arcs[i].center.y / 1000;
-//
-// tmpPoint.x = e.x + x * cos(e.phi) - y * sin(e.phi);
-// tmpPoint.y = e.y + x * sin(e.phi) + y * cos(e.phi);
-//
-// center_arcs.push_back(tmpPoint);
-// }
-//
-// for (i = 0; i < center_arcs.size(); i++) {
-// if (robot.team_color) {
-// for (unsigned int j = 0; j < blues.size(); j++) {
-// distance = point_distance(blues[j], center_arcs[i]);
-// if (distance < 0.05) {
-// figure_detected_at(center_arcs[i].x, center_arcs[i].y, true);
-// break;
-// }
-// }
-// } else {
-// for (unsigned int j = 0; j < reds.size(); j++) {
-// distance = point_distance(reds[j], center_arcs[i]);
-// if (distance < 0.05) {
-// figure_detected_at(center_arcs[i].x, center_arcs[i].y, true);
-// break;
-// }
-// }
-// }
-// }
-// }
+/* double distance;
+
+ if (arcs.size() > 0) {
+ for (i = 0; i < arcs.size(); i++) {
+ x = arcs[i].center.x / 1000;
+ y = arcs[i].center.y / 1000;
+
+ tmpPoint.x = e.x + x * cos(e.phi) - y * sin(e.phi);
+ tmpPoint.y = e.y + x * sin(e.phi) + y * cos(e.phi);
+
+ center_arcs.push_back(tmpPoint);
+ }
+
+ for (i = 0; i < center_arcs.size(); i++) {
+ if (robot.team_color) {
+ for (unsigned int j = 0; j < blues.size(); j++) {
+ distance = point_distance(blues[j], center_arcs[i]);
+ if (distance < 0.05) {
+ figure_detected_at(center_arcs[i].x, center_arcs[i].y, true);
+ break;
+ }
+ }
+ } else {
+ for (unsigned int j = 0; j < reds.size(); j++) {
+ distance = point_distance(reds[j], center_arcs[i]);
+ if (distance < 0.05) {
+ figure_detected_at(center_arcs[i].x, center_arcs[i].y, true);
+ break;
+ }
+ }
+ }
+ }
+ }*/