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 ----
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