From: Michal Vokac <vokac.m@gmail.com>
Date: Fri, 9 Dec 2011 16:05:56 +0000 (+0100)
Subject: robofsm: Add constant for close target value.
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/eurobot/public.git/commitdiff_plain/7b4da59ce9a2c6f76c08833652ac9a90d0e61b1a

robofsm: Add constant for close target value.
---

diff --git a/src/robofsm/common-states.cc b/src/robofsm/common-states.cc
index ffa357e6..e908c758 100644
--- a/src/robofsm/common-states.cc
+++ b/src/robofsm/common-states.cc
@@ -62,10 +62,11 @@ bool goal_is_in_playground(double goalx, double goaly)
 /* Check if the new point is close to the robot */
 bool close_goal(double goalx, double goaly)
 {
+        const double close = 0.5;
         double x, y, phi;
         robot_get_est_pos(&x, &y, &phi);
 
-        if ((abs(goalx - x) < 0.5) && (abs(goaly - y) < 0.5) )
+        if ((abs(goalx - x) < close) && (abs(goaly - y) < close) )
                 return true;
         else
                 return false;