} else if(fixed_point_gt(rectangle_bottom( obstacle), rectangle_bottom(&desired)) &&
fixed_point_le(rectangle_top ( obstacle), rectangle_bottom(&desired)) &&
fixed_point_gt(rectangle_top (&desired ), rectangle_top (¤t->current_box))) {
} else if(fixed_point_gt(rectangle_bottom( obstacle), rectangle_bottom(&desired)) &&
fixed_point_le(rectangle_top ( obstacle), rectangle_bottom(&desired)) &&
fixed_point_gt(rectangle_top (&desired ), rectangle_top (¤t->current_box))) {