[Robotflow-cvs] RobotFlow/Behaviors/src EllipticalAvoid.cc,1.3,1.4

[clement r. <kl...@us...>]

Update of /cvsroot/robotflow/RobotFlow/Behaviors/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv26462

Modified Files:
	EllipticalAvoid.cc 
Log Message:
memory managment logic clean up

Index: EllipticalAvoid.cc
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/Behaviors/src/EllipticalAvoid.cc,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** EllipticalAvoid.cc	20 Dec 2005 21:24:22 -0000	1.3
--- EllipticalAvoid.cc	19 Jan 2006 16:49:04 -0000	1.4
***************
*** 234,242 ****
          if(avoid)
          {
!            if(!avoidActivated)
!            {
!               avoidActivated = true;
!               memory = m_nbAvoidance;
!            }
             lastPos = pos;
             lastMargin = margin;
--- 234,238 ----
          if(avoid)
          {
!            memory = m_nbAvoidance;
             lastPos = pos;
             lastMargin = margin;
***************
*** 244,256 ****
          else
          {
!            if(avoidActivated && memory != 0)
             {
                pos = lastPos;
                margin = lastMargin;
                avoid = true;
!            }
!            else
!            {
!               avoidActivated = false;
             }
          }
--- 240,249 ----
          else
          {
!            if(memory != 0)
             {
                pos = lastPos;
                margin = lastMargin;
                avoid = true;
!               --memory;
             }
          }
***************
*** 258,267 ****
          if(avoid)
          {
-            --memory;
-            if(memory == 0)
-            {
-               avoidActivated = false;
-            }
-            
             // Compute the behavioral response
             int velOut = avoidUtil->evalAvoidingLinVel(velIn, margin);
--- 251,254 ----