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- Log -----------------------------------------------------------------
commit 038fccc6bbf8b374593b12eb2bfd4cf793b8477e
Author: Jérémie Dimino <je...@di...>
Date: Sat May 28 22:26:22 2011 +0200
[krobot_planner] remove the destination object from obstacles when planning a path
-----------------------------------------------------------------------
Changes:
diff --git a/info/control2011/src/tools/krobot_planner.ml b/info/control2011/src/tools/krobot_planner.ml
index 32bcd4a..f68832d 100644
--- a/info/control2011/src/tools/krobot_planner.ml
+++ b/info/control2011/src/tools/krobot_planner.ml
@@ -127,6 +127,8 @@ let rec intersection va vb objects =
intersection va vb rest
let find_path planner src dst =
+ (* Remove the destination object from obstacles. *)
+ let objects = List.filter (fun obj -> distance dst obj >= object_radius) planner.objects in
(* Build bounding boxes. *)
let r1 = object_radius +. robot_size in
let r2 = object_radius +. robot_size *. 3. /. 4. in
@@ -151,7 +153,7 @@ let find_path planner src dst =
let set = add obj.x (obj.y +. r2) set in
let set = add (obj.x -. r2) obj.y set in
set)
- Vertice_set.empty planner.objects
+ Vertice_set.empty objects
in
(* Add the source and the destination. *)
let vertices = Vertice_set.add src (Vertice_set.add dst vertices) in
@@ -179,7 +181,7 @@ let find_path planner src dst =
let path, weight = Dijkstra.shortest_path graph src dst in
List.map (fun (a, b) -> b) path
with Not_found ->
- [dst]
+ []
(* +-----------------------------------------------------------------+
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