Remove unused files (nn, nv, sample)

[hubacji1/iamcar.git] / base / rrtbase.cc

diff --git a/base/rrtbase.cc b/base/rrtbase.cc
index 563fc04d8364c3c99da74f1f2646b750985bc581..8785ad7230849e6b3f736d5d6df3610f092892d1 100644 (file)
--- a/base/rrtbase.cc
+++ b/base/rrtbase.cc
@@ -30,11 +30,8 @@ along with I am car. If not, see <http://www.gnu.org/licenses/>.
 #endif
 
 // RRT
-#include "sample.h"
 #include "cost.h"
 #include "steer.h"
-#include "nn.h"
-#include "nv.h"
 
 #if USE_GL > 0
 extern SDL_Window* gw;
@@ -381,6 +378,8 @@ void RRTBase::slot_cusp(std::vector<RRTNode *> sc)
 bool RRTBase::glplot()
 {
 #if USE_GL > 0
+        float glplwscale = 1.0 / ((this->VMAX) - (this->VMIN));
+        float glplhscale = 1.0 / ((this->HMAX) - (this->HMIN));
         glClear(GL_COLOR_BUFFER_BIT);
         glLineWidth(1);
         glPointSize(1);
@@ -423,28 +422,28 @@ bool RRTBase::glplot()
                                 glColor3f(0.5, 0.5, 0.5);
                                 BicycleCar bc(tmp->x(), tmp->y(), tmp->h());
                                 glVertex2f(
-                                        bc.lfx() * GLPLWSCALE,
-                                        bc.lfy() * GLPLHSCALE
+                                        bc.lfx() * glplwscale,
+                                        bc.lfy() * glplhscale
                                 );
                                 glVertex2f(
-                                        bc.lrx() * GLPLWSCALE,
-                                        bc.lry() * GLPLHSCALE
+                                        bc.lrx() * glplwscale,
+                                        bc.lry() * glplhscale
                                 );
                                 glVertex2f(
-                                        bc.lrx() * GLPLWSCALE,
-                                        bc.lry() * GLPLHSCALE
+                                        bc.lrx() * glplwscale,
+                                        bc.lry() * glplhscale
                                 );
                                 glVertex2f(
-                                        bc.rrx() * GLPLWSCALE,
-                                        bc.rry() * GLPLHSCALE
+                                        bc.rrx() * glplwscale,
+                                        bc.rry() * glplhscale
                                 );
                                 glVertex2f(
-                                        bc.rrx() * GLPLWSCALE,
-                                        bc.rry() * GLPLHSCALE
+                                        bc.rrx() * glplwscale,
+                                        bc.rry() * glplhscale
                                 );
                                 glVertex2f(
-                                        bc.rfx() * GLPLWSCALE,
-                                        bc.rfy() * GLPLHSCALE
+                                        bc.rfx() * glplwscale,
+                                        bc.rfy() * glplhscale
                                 );
                         }
                 }