bumpBehaviors.h

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#ifndef BUMPBEHAVIORS_H_
#define BUMPBEHAVIORS_H_



#define BUMPMOVE_REFLECT_DISTANCE               110
#define BUMPMOVE_REFLECT_DIST_SHORT             20

// obstacle avoidance behaviors

Beh* behIRObstacleAvoid(Beh* behPtr, int32 tv, boolean invalidate);


Beh* behBumpMoveOutOfWay(Beh* behPtr);


Beh* behIRObstacleAvoid_ExcludeRobots(Beh* behPtr, int32 tv, NbrList* nbrListPtr, boolean invalidate);


Beh* behBumpAvoid(Beh* behPtr, int32 tv, int32 forwardDist);


Beh* behBumpReflect(Beh* behPtr, int32 tv , int32 reflectDist);


void behBumpReflectDemo(Beh* behPtr, int32 rotate_rv);


Beh* behBumpBackoff(Beh* behPtr, int32 tv);


Beh* behBumpNavigate(Beh* behPtr, uint8 headingRobot);

#endif /* BUMPBEHAVIORS_H_ */