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fix

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This commit is contained in:
Stefan Bühler 2008-07-14 00:02:01 +02:00
parent 66d5b5f065
commit 070a6a1417
2 changed files with 4 additions and 11 deletions
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9
src/control.h
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@ -134,7 +134,6 @@ INLINE void vehicle_hard_right(trial *t);
INLINE timestamp getcurts(trial *t); INLINE timestamp getcurts(trial *t);
INLINE double fixangle(double a); INLINE double fixangle(double a);
INLINE double fixdirection(double a);
/* needed by parser */ /* needed by parser */
telemetry* telemetry_new(); telemetry* telemetry_new();
@ -232,15 +231,9 @@ INLINE timestamp getcurts(trial *t) {
} }
INLINE double fixangle(double a) { INLINE double fixangle(double a) {
while (a < -180) a += 360; while (a <= -180) a += 360;
while (a > 180) a -= 360; while (a > 180) a -= 360;
return a; return a;
} }
INLINE double fixdirection(double a) {
while (a < 0) a += 360;
while (a > 360) a -= 360;
return a;
}
#endif #endif

6
src/lookahead.c
View File

@ -85,10 +85,10 @@ void sim_update(trial* t){
radar_dgl(t,tm->ts); radar_dgl(t,tm->ts);
/*calculate misspredict*/ /*calculate misspredict*/
fprintf(stderr, "Miss predict: dx=%f, dy=%f, ddir=%f, steps=%u\n", fprintf(stderr, "Miss predict: dx=%f, dy=%f, ddir=%f (%f %f), steps=%u\n",
t->sim.tm.vehicle.x - t->vehicle.x, t->sim.tm.vehicle.x - t->vehicle.x,
t->sim.tm.vehicle.y - t->vehicle.y, t->sim.tm.vehicle.y - t->vehicle.y,
t->sim.tm.vehicle.dir - t->vehicle.dir, fixangle(t->sim.tm.vehicle.dir - t->vehicle.dir),
t->sim.steps); t->sim.steps);
// fprintf(stderr, "w = %f, dir = %f\n", t->sim.tm.vehicle.w, t->sim.tm.vehicle.dir); // fprintf(stderr, "w = %f, dir = %f\n", t->sim.tm.vehicle.w, t->sim.tm.vehicle.dir);
fprintf(stderr, "speed = %f\n", t->sim.tm.vehicle.speed); fprintf(stderr, "speed = %f\n", t->sim.tm.vehicle.speed);
@ -158,7 +158,7 @@ int dgl(trial* t, vehicle* after, vehicle* before, timestamp h, timestamp deltat
after->y = tmp.y; after->y = tmp.y;
after->speed = tmp.speed; after->speed = tmp.speed;
after->w = tmp.w; after->w = tmp.w;
after->dir = fixdirection(tmp.dir); after->dir = fixangle(tmp.dir);
return 0; return 0;
} }