/** Finds which checklines must be visited before driving on this quad
* (useful for rescue)
*/
void QuadGraph::computeChecklineRequirements(GraphNode* node,
int latest_checkline)
{
for (unsigned int n=0; n<node->getNumberOfSuccessors(); n++)
{
const int succ_id = node->getSuccessor(n);
// warp-around
if (succ_id == 0) break;
GraphNode* succ = m_all_nodes[succ_id];
int new_latest_checkline =
CheckManager::get()->getChecklineTriggering(node->getCenter(),
succ->getCenter() );
if(new_latest_checkline==-1)
new_latest_checkline = latest_checkline;
/*
printf("Quad %i : checkline %i\n", succ_id, new_latest_checkline);
printf("Quad %i :\n", succ_id);
for (std::set<int>::iterator it = these_checklines.begin();it != these_checklines.end(); it++)
{
printf(" Depends on checkline %i\n", *it);
}
*/
if (new_latest_checkline != -1)
succ->setChecklineRequirements(new_latest_checkline);
computeChecklineRequirements(succ, new_latest_checkline);
}
} // computeChecklineRequirements
