# make sure every place along that path is possible
targetx = target[0] * delta_x
targety = target[1] * delta_y
currentx = robot.loc[0] * delta_x
currenty = robot.loc[1] * delta_y
# we're headed
_dir = direction(robot.loc, target)
dx, dy = _dir
points = []
for i in range(abs(targetx - currentx)):
for j in range(abs(targety - currenty)):
points += [robot.potentialPoints(dx * i, dy * j)]
check = map(lambda s: testCollision(s, obstacles), points)
if True in check:
x, y = safe.pop()
robot.translate(x, y)
robot.plan = node.search(robot.loc, goal)
drawPath(robot.plan, delta_x, delta_y)
node.BadLocations.addBadLoc(target)
continue
# otherwise we're clear
robot.translate(target[0], target[1])
safe.append(target)
print len(safe)
