while ( (! (cond)) && (__err == 0)) { \
__err = test_traj_end(mask); \
} \
+ if (!__err) \
+ DEBUG(E_USER_STRAT, "cond is true at line %d", \
+ __LINE__); \
+ else \
+ DEBUG(E_USER_STRAT, "got %s at line %d", \
+ get_err(__err), __LINE__); \
__err; \
}) \
int16_t distance_between(int16_t x1, int16_t y1, int16_t x2, int16_t y2);
+int32_t quad_distance_between(int16_t x1, int16_t y1, int16_t x2, int16_t y2);
int16_t distance_from_robot(int16_t x, int16_t y);
int16_t simple_modulo_360(int16_t a);
int16_t angle_abs_to_rel(int16_t a_abs);