From: Petr Silhavik <silhavik.p@gmail.com>
Date: Wed, 23 Jan 2013 13:40:25 +0000 (+0100)
Subject: robofsm: Map handling - update coding style
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/eurobot/public.git/commitdiff_plain/6082bb01bb60b31f5b27355404e4e338c523caa1

robofsm: Map handling - update coding style

Change pointers to reference.

Fix some warnings.
---

diff --git a/src/robofsm/map_handling.cc b/src/robofsm/map_handling.cc
index baadd835..e6133af0 100644
--- a/src/robofsm/map_handling.cc
+++ b/src/robofsm/map_handling.cc
@@ -12,12 +12,12 @@
  * Parameters of Obstacle detection
  *******************************************************************************/
 
-#define OBS_SIZE_M 0.2		/**< Expected size of detected obstacle  */
-#define IGNORE_CLOSER_THAN_M 0.2 /**< Do not mark any obstacle closer than this to center of the robot (avoid path planning deadlock) */
-#define IGNORE_FURTHER_THAN_M 0.5 /**< Ignore data from sharp if further than this */
-#define OBS_FORGET_PERIOD	100		/**< The period of thread_obstacle_forgeting [ms] */
-#define OBS_FORGET_SEC 1			/**< Time to completely forget detected obstacle. */
-#define OBS_OFFSET	0.6
+const double OBS_SIZE_M = 0.2;  /**< Expected size of detected obstacle  */
+const double IGNORE_CLOSER_THAN_M = 0.2; /**< Do not mark any obstacle closer than this to center of the robot (avoid path planning deadlock) */
+const double IGNORE_FURTHER_THAN_M = 0.5; /**< Ignore data from sharp if further than this */
+const int OBS_FORGET_PERIOD = 100;  /**< The period of thread_obstacle_forgeting [ms] */
+const int OBS_FORGET_SEC = 1;  /**< Time to completely forget detected obstacle. */
+const double OBS_OFFSET = 0.6;
 
 void obstacle_detected_at(double x, double y, bool real_obstacle)
 {
@@ -118,15 +118,15 @@ void figure_detected_at(double x, double y, const bool state)
  *
  * @return
  */
-void obst_coord(struct robot_pos_type *e, const struct sharp_pos  *s, double v, double *x, double *y)
+void obst_coord(struct robot_pos_type *e, const struct sharp_pos  *s, double v, double &x, double &y)
 {
 	double sx, sy, sa;
 	sx = e->x + s->x*cos(e->phi) - s->y*sin(e->phi);
 	sy = e->y + s->x*sin(e->phi) + s->y*cos(e->phi);
 	sa = e->phi + s->ang;
 
-	*x = sx+v*cos(sa);
-	*y = sy+v*sin(sa);
+	x = sx+v*cos(sa);
+	y = sy+v*sin(sa);
 }
 
 void get_checkerboard(std::vector<Shape_detect::Point> &team)
@@ -221,39 +221,39 @@ void update_map_hokuyo(struct hokuyo_scan_type *s)
 
 	Shape_detect::Point tmpPoint;
 
-	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;
+					}
+				}
+			}
+		}
+	}*/
 
 	bool obstacle = true;
 
@@ -263,7 +263,7 @@ void update_map_hokuyo(struct hokuyo_scan_type *s)
 			continue;
 
 		if(data[i] > 19 && data[i] < 2000) {
-			obst_coord(&e, &beam, data[i]/1000.0, &x, &y);
+			obst_coord(&e, &beam, data[i]/1000.0, x, y);
 
 			tmpPoint.x = x;
 			tmpPoint.y = y;
@@ -340,4 +340,5 @@ void * thread_obstacle_forgeting(void * arg)
 
 		forget_obstacles(val);
 	}
+	return NULL;
 }