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# Representations/Perception/ObstaclesPercept.cpp

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    00001 /**
    00002  * @file ObstaclesPercept.cpp
    00003  *
    00004  * Implementation of class ObstaclesPercept.
    00005  * @author <a href="mailto:juengel@informatik.hu-berlin.de">Matthias Juengel</a>
    00006  */
    00007
    00008 #include "ObstaclesPercept.h"
    00009
    00010 void ObstaclesPercept::reset(unsigned long frameNumber)
    00011 {
    00012   this->frameNumber = frameNumber;
    00013   numberOfSegments = 0;
    00014   freePartOfGoal[0].wasDetermined = freePartOfGoal[1].wasDetermined = false;
    00015 }
    00016
    00017 void ObstaclesPercept::add(const Segment& segment)
    00018 {
    00019   if(numberOfSegments < maxNumberOfSegments)
    00020     segments[numberOfSegments++] = segment;
    00021 }