AMiRo-OS

  }

void AmiroMap::calTravelState(types::position *p1) {

  // Calculate the moved distance from last detected  fixpoint

  state.dist = calculateDist(p1, &nodeList[state.current].p.arr[state.strategy - 1]);

  // Calculate elength if it is 0

  // and if the point of the next node was visited before

  if ((state.eLength == 0) && ((state.strategy & nodeList[state.next].visited) == 1)) {

    state.eLength =

        calculateDist(p1, &nodeList[state.current].p.arr[state.strategy - 1]);

  }

  // The check will basically only consist in checking if all nodes

  // are connected to following nodes

  for(int i=0; i < nodeCount; i++){

    for(int j=0; j < nodeCount; j++)

      if(nodeList[i].edge.arr[j] == 255){

        state.valid = false;

        return;

      }

  }

  state.valid = true;