/*
* Check existance of obstacles. The route is specified by
* source and destination. If targetBurdenLoc is given, it is
* excluded from obstacles. If targetBurdenLoc==null, ignored.
*/
bool SampleBase::checkAllConflict(const Vec3d& src,const Vec3d& dest,const Vec3d& targetBurdenLoc) {
vector<Vec3d> array = burdenSet.getVectors();
for (vector<Vec3d>::iterator itr = array.begin(); itr != array.end(); itr++) {
Vec3d v = (*itr);
if (v == src)
continue;
if (v == dest)
continue;
if (targetBurdenLoc.x<1000 && v.epsilonEquals(targetBurdenLoc,1.0))
continue;
if (checkConflict(src,dest,v,1.5)) {
return true;
}
}
if (checkConflict(src,dest,obstacle1,3.0))
return true;
if (checkConflict(src,dest,obstacle2,3.0))
return true;
return false;
}
