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- switch(obstacle.zone) {
- case ZcmObstacle::ZONE_RED:
- if (msg.index_red == -1 || obstacle.distance_x < msg.obstacles[msg.index_red].distance_x)
- msg.index_red = msg.obstacles.size() - 1;
- break;
- case ZcmObstacle::ZONE_YELLOW:
- if (msg.index_yellow == -1 || obstacle.distance_x < msg.obstacles[msg.index_yellow].distance_x)
- msg.index_yellow = msg.obstacles.size() - 1;
- break;
- case ZcmObstacle::ZONE_BROWN:
- if (msg.index_brown == -1 || obstacle.distance_x < msg.obstacles[msg.index_brown].distance_x)
- msg.index_brown = msg.obstacles.size() - 1;
- break;
- }
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