[Krobot-commits] [SCM] krobot branch, master, updated. 038fccc6bbf8b374593b12eb2bfd4cf793b8477e

[Jérémie D. <Ba...@us...>]

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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]
+    []
 
 (* +-----------------------------------------------------------------+
    | Primitives                                                      |


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