use a stronger return type for clear

diff --git a/lib/pathplan/visibility.c b/lib/pathplan/visibility.c
index ec7b19207c4be90a9d4408a0d1b2e3c644835451..896b77e4c3dbe0bff4a726a36b68a34ce49ee16c 100644 (file)
--- a/lib/pathplan/visibility.c
+++ b/lib/pathplan/visibility.c
@@ -196,7 +196,7 @@ static bool inCone(int i, int j, Ppoint_t pts[], int nextPt[], int prevPt[])
  * Return true if no polygon line segment non-trivially intersects
  * the segment [pti,ptj], ignoring segments in [start,end).
  */
-static int clear(Ppoint_t pti, Ppoint_t ptj,
+static bool clear(Ppoint_t pti, Ppoint_t ptj,
                 int start, int end,
                 int V, Ppoint_t pts[], int nextPt[], int prevPt[])
 {
@@ -204,13 +204,13 @@ static int clear(Ppoint_t pti, Ppoint_t ptj,
 
     for (k = 0; k < start; k++) {
        if (INTERSECT(pti, ptj, pts[k], pts[nextPt[k]], pts[prevPt[k]]))
-           return 0;
+           return false;
     }
     for (k = end; k < V; k++) {
        if (INTERSECT(pti, ptj, pts[k], pts[nextPt[k]], pts[prevPt[k]]))
-           return 0;
+           return false;
     }
-    return 1;
+    return true;
 }
 
 /* compVis: