/* LICENSE:
  =========================================================================
    CMPack'04 Source Code Release for OPEN-R SDK 1.1.5-r2 for ERS7
    Copyright (C) 2004 Multirobot Lab [Project Head: Manuela Veloso]
    School of Computer Science, Carnegie Mellon University
    All rights reserved.
  ========================================================================= */

#ifndef INCLUDED_MoveDistributions_hh
#define INCLUDED_MoveDistributions_hh

#include <stdlib.h>

inline void
FudgeMovementUpdate(double &dx, double &dy, double &da) {
  dx*=.904;
  dy*=.904;

  if(dx!=0.0 || dy!=0.0) {
    if(da > 0.0)
      da *= .921;//.758; // left
    else
      da *= .733;//.588; // right
  }
  else {
    da *= .883;
  }
}

#endif