Add node scaling macro for OpenGL

diff --git a/base/rrtbase.cc b/base/rrtbase.cc
index d5f88dff475910ab79d15ced79868cc9a2f09e7a..df76683778f4dfe80add0c4efaae925595b24595 100644 (file)
--- a/base/rrtbase.cc
+++ b/base/rrtbase.cc
@@ -223,10 +223,8 @@ bool RRTBase::glplot()
         glBegin(GL_LINES);
         for (auto o: *this->sobstacles_) {
                 glColor3f(0, 0, 0);
-                glVertex2f(o.init()->x() * GLPLWSCALE,
-                                o.init()->y() * GLPLHSCALE);
-                glVertex2f(o.goal()->x() * GLPLWSCALE,
-                                o.goal()->y() * GLPLHSCALE);
+                glVertex2f(GLVERTEX(o.init()));
+                glVertex2f(GLVERTEX(o.goal()));
         }
         glEnd();
         // Plot nodes
@@ -243,10 +241,8 @@ bool RRTBase::glplot()
                         for (auto ch: tmp->children()) {
                                 s.push_back(ch);
                                 glColor3f(0.5, 0.5, 0.5);
-                                glVertex2f(tmp->x() * GLPLWSCALE,
-                                                tmp->y() * GLPLHSCALE);
-                                glVertex2f(ch->x() * GLPLWSCALE,
-                                                ch->y() *GLPLHSCALE);
+                                glVertex2f(GLVERTEX(tmp));
+                                glVertex2f(GLVERTEX(ch));
                         }
                 }
         }

diff --git a/incl/sample.h b/incl/sample.h
index c38c90a9629becc37757376a55a48413ce68e5f8..c23c42f321bb6b4f6ff21f034793926fc3cab5c8 100644 (file)
--- a/incl/sample.h
+++ b/incl/sample.h
@@ -32,6 +32,8 @@ along with I am car. If not, see <http://www.gnu.org/licenses/>.
 #define GLPLWSCALE (1.0 / ((VMAX) - (VMIN)))
 #define GLPLHSCALE (1.0 / ((HMAX) - (HMIN)))
 
+#define GLVERTEX(n) ((n)->x() * GLPLWSCALE), ((n)->y() * GLPLHSCALE)
+
 RRTNode *sa1();
 
 #endif