- if (o["circle"] != Json::nullValue) {
- tmpx = o["circle"][0].asFloat();
- tmpy = o["circle"][1].asFloat();
- tmpr = o["circle"][2].asFloat();
- co.push_back(CircleObstacle(tmpx, tmpy, tmpr));
- if (tmpx < p.HMIN) p.HMIN = tmpx;
- if (tmpx > p.HMAX) p.HMAX = tmpx;
- if (tmpy < p.VMIN) p.VMIN = tmpy;
- if (tmpy > p.VMAX) p.VMAX = tmpy;
- }
- if (o["segment"] != Json::nullValue) {
- tmpx = o["segment"][0][0].asFloat();
- tmpy = o["segment"][0][1].asFloat();
- tmpr = o["segment"][1][0].asFloat();
- tmps = o["segment"][1][1].asFloat();
+ for (i = 0; i < o.size() - 1; i++) {
+ tmpx = o[i][0].asFloat();
+ tmpy = o[i][1].asFloat();
+ tmpr = o[i + 1][0].asFloat();
+ tmps = o[i + 1][1].asFloat();