Changeset 8792 for code/branches/ai2/src/orxonox/controllers/AIController.cc

Timestamp:

Jul 27, 2011, 9:21:29 PM (13 years ago)

Author:

jo

Message:

Yeay, works. The pickuping efficiency isn't as good as expected though.

File:

• code/branches/ai2/src/orxonox/controllers/AIController.cc (modified) (1 diff)

code/branches/ai2/src/orxonox/controllers/AIController.cc

@@ -241 +241 @@
                 WorldEntity* wPoint = this->waypoints_[this->waypoints_.size()-1];
                 if(wPoint)
+                {
                     this->moveToPosition(wPoint->getWorldPosition()); //BUG ?? sometime wPoint->getWorldPosition() causes crash
-                if (wPoint->getWorldPosition().squaredDistance(controllable->getPosition()) <= this->squaredaccuracy_)
-                    this->waypoints_.pop_back(); // if goal is reached, remove it from the list
+                    if (wPoint->getWorldPosition().squaredDistance(controllable->getPosition()) <= this->squaredaccuracy_)
+                        this->waypoints_.pop_back(); // if goal is reached, remove it from the list
+                }
+                else
+                    this->waypoints_.pop_back(); // remove invalid waypoints
 
             }