pathplan isdiagonal: remove shadowing of globals

diff --git a/lib/pathplan/shortest.c b/lib/pathplan/shortest.c
index 14b114492eee531108b1ab3ab151ab0cc922a65d..1ae078f4bc638d4db4741e62d8382a78e761c22c 100644 (file)
--- a/lib/pathplan/shortest.c
+++ b/lib/pathplan/shortest.c
@@ -318,30 +318,29 @@ static int triangulate(pointnlink_t **points, int point_count) {
 }
 
 /* check if (i, i + 2) is a diagonal */
-static bool isdiagonal(int pnli, int pnlip2, pointnlink_t ** pnlps,
-                     int pnln)
-{
+static bool isdiagonal(int pnli, int pnlip2, pointnlink_t **points,
+                       int point_count) {
     int pnlip1, pnlim1, pnlj, pnljp1, res;
 
     /* neighborhood test */
-    pnlip1 = (pnli + 1) % pnln;
-    pnlim1 = (pnli + pnln - 1) % pnln;
+    pnlip1 = (pnli + 1) % point_count;
+    pnlim1 = (pnli + point_count - 1) % point_count;
     /* If P[pnli] is a convex vertex [ pnli+1 left of (pnli-1,pnli) ]. */
-    if (ccw(pnlps[pnlim1]->pp, pnlps[pnli]->pp, pnlps[pnlip1]->pp) == ISCCW)
-       res = ccw(pnlps[pnli]->pp, pnlps[pnlip2]->pp, pnlps[pnlim1]->pp) == ISCCW
-          && ccw(pnlps[pnlip2]->pp, pnlps[pnli]->pp, pnlps[pnlip1]->pp) == ISCCW;
+    if (ccw(points[pnlim1]->pp, points[pnli]->pp, points[pnlip1]->pp) == ISCCW)
+       res = ccw(points[pnli]->pp, points[pnlip2]->pp, points[pnlim1]->pp) == ISCCW
+          && ccw(points[pnlip2]->pp, points[pnli]->pp, points[pnlip1]->pp) == ISCCW;
     /* Assume (pnli - 1, pnli, pnli + 1) not collinear. */
     else
-       res = ccw(pnlps[pnli]->pp, pnlps[pnlip2]->pp, pnlps[pnlip1]->pp) == ISCW;
+       res = ccw(points[pnli]->pp, points[pnlip2]->pp, points[pnlip1]->pp) == ISCW;
     if (!res)
        return false;
 
     /* check against all other edges */
-    for (pnlj = 0; pnlj < pnln; pnlj++) {
-       pnljp1 = (pnlj + 1) % pnln;
+    for (pnlj = 0; pnlj < point_count; pnlj++) {
+       pnljp1 = (pnlj + 1) % point_count;
        if (!(pnlj == pnli || pnljp1 == pnli || pnlj == pnlip2 || pnljp1 == pnlip2))
-           if (intersects(pnlps[pnli]->pp, pnlps[pnlip2]->pp,
-                          pnlps[pnlj]->pp, pnlps[pnljp1]->pp))
+           if (intersects(points[pnli]->pp, points[pnlip2]->pp,
+                          points[pnlj]->pp, points[pnljp1]->pp))
                return false;
     }
     return true;