From 6509afa9e2252f152628a84c57f935f118f7c4e6 Mon Sep 17 00:00:00 2001 From: Michal Vokac Date: Fri, 7 Jun 2013 16:00:24 +0200 Subject: [PATCH] robofsm: Use obstacle avoidance flag in fsmmove automaton --- src/robofsm/fsmmove.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/robofsm/fsmmove.cc b/src/robofsm/fsmmove.cc index b138b5b5..a0d833a9 100644 --- a/src/robofsm/fsmmove.cc +++ b/src/robofsm/fsmmove.cc @@ -140,7 +140,7 @@ static enum target_status new_goal(struct move_target *move_target, double start t->finalHeading = target2final_heading(move_target->heading); if (t->prepare(future_traj_point)) { - if (obstackle_in_front_if_turn(t)) + if (robot.obstacle_avoidance_enabled && obstackle_in_front_if_turn(t)) ret = TARGET_INACC; else { if (start_in_future) { -- 2.39.2