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Checkpoint added Primary and Alternate planner queue section from the buffer primitives

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This commit is contained in:
Alden Hart
2016-12-05 15:47:41 -05:00
parent 0d0fdd9ddb
commit 470923f0f7
9 changed files with 169 additions and 71 deletions
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2
g2core/plan_arc.cpp
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@@ -78,7 +78,7 @@ stat_t cm_arc_callback()
if (arc.run_state == BLOCK_INACTIVE) {
return (STAT_NOOP);
}
if (mp_planner_is_full()) {
if (mp_planner_is_full(ACTIVE_Q)) {
return (STAT_EAGAIN);
}
arc.theta += arc.segment_theta;