Commit e32f56df authored by Timothy Stack's avatar Timothy Stack
Browse files

Move the OBSTACLE_BUFFER define to mtp.h. Add a hack to deal with

goal's in obstacles: move towards the edge of the exclusion zone where
the path intersects and wait before trying again; if the obstacle is a
robot, move to the edge perpendicular to the robot to clear the way
for the other guy.
parent 23800bf7
......@@ -475,6 +475,14 @@ int mtp_obstacle_config_invariant(struct obstacle_config *oc);
void mtp_print_packet(FILE *file, struct mtp_packet *mp);
* The size of the buffer zone around the obstacles, in meters.
* XXX This is for the garcia's only. Other robots will require different
* buffer sizes.
#define OBSTACLE_BUFFER 0.23f
#ifndef min
#define min(x, y) (((x) < (y)) ? (x) : (y))
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