Tesi Robotica Algoritmi ed architetture per la risoluzione di... | Page 92

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if(p[offset4] < c_b)
if(p[offset6] < c_b)
goto success_structured;
else
goto homogeneous;
else
goto homogeneous;
else
if(p[offset1] < c_b)
if(p[offset4] < c_b)
goto success_homogeneous;
else
goto homogeneous;
else
goto homogeneous;
else
goto homogeneous;
else
if(p[offset5] > cb)
if(p[offset3] > cb)
if(p[offset2] > cb)
if(p[offset1] > cb)
if(p[offset4] > cb)
goto success_structured;
else
goto homogeneous;
else
if(p[offset4] > cb)
if(p[offset6] > cb)
goto success_structured;
else
goto homogeneous;
else
goto homogeneous;
else
if(p[offset7] > cb)
if(p[offset4] > cb)
if(p[offset6] > cb)
goto success_structured;
else
goto homogeneous;
else