Todo List

Class _GraphMapCell

Maybe it is possible to simplify this structure.

Member Trajectory::corners2arcs ()

Splines will be better.

Member Trajectory::prepare (Pos _initPos)

Solve properly the case, when initPos has non-zero speed.

File map.c

Lock the map! if while we are doing something in the map, somewhere the function ShmapFree() is called, segfault occurs.

Member ShmapUpdateTmpObstacles

Do faster this process. Use a cell's list to update.

Member FSM_TIMER

Shall we invalidate timer on state transition?

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