From 1fba8165e61ee1809ce552cea669aa88af641451 Mon Sep 17 00:00:00 2001
From: ehiker <ehiker@ehikers-lubuntu.(none)>
Date: Mon, 12 Dec 2011 20:52:55 +0100
Subject: [PATCH] pathplan: added map_2_png as debug view in aalgorithm

---
 src/pathplan/aalgorithm.c | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/src/pathplan/aalgorithm.c b/src/pathplan/aalgorithm.c
index 1f8eb323..bd985d9c 100644
--- a/src/pathplan/aalgorithm.c
+++ b/src/pathplan/aalgorithm.c
@@ -674,6 +674,18 @@ int aAlgorithm_shape(double xstart_real, double ystart_real, double xgoal_real,
                                 }
                         }
                         
+#ifdef AALGORITHM_DEBUG 
+			char file_name[20];
+			sprintf(file_name,"map_x%3d_y%3d_a%1d", coor_contig.x,coor_contig.y, angle_index);
+                        
+			if(map_2_png(map, file_name)) {
+				printf("PATHPLAN: aAlgorithm : PNG file sucessfull created");
+			}
+			else {
+				printf("PATHPLAN: aAlgorithm : PNG file not created!");
+			}
+#endif	
+                        
 			if ((!rot_left) && (!rot_right)) {
 				break;
 			}
-- 
2.39.2