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final fix

master
Stefan Bühler 11 years ago
parent
commit
4409ebfd39
1 changed files with 8 additions and 3 deletions
  1. 8
    3
      src/lookahead.c

+ 8
- 3
src/lookahead.c View File

@@ -126,24 +126,29 @@ int dgl(trial* t, vehicle* after, vehicle* before, timestamp h, timestamp deltat
k = t->map.k;

wsoll = turn2w(t,before->turn);
aw = t->map.aw * ((before->w > wsoll) ? -1 : 1);
if (before->w == wsoll) aw = 0;

for(i = 0;i<=end;i++){
if(i == end) dt = deltat - end*dt;
aw = t->map.aw * ((before->w > wsoll) ? 1 : -1);
/*calculate derivative*/
diff.x = cos(tmp.dir*M_PI/180)*tmp.speed/1000;
diff.y = sin(tmp.dir*M_PI/180)*tmp.speed/1000;
diff.speed = a - k*tmp.speed*tmp.speed;
// diff.speed = fmax(-tmp.speed/1000,a - k*tmp.speed*tmp.speed*1e-6);
diff.w = (tmp.w == wsoll) ? 0 : aw;
diff.w = aw;
diff.dir = tmp.w;
/*Euler Step*/
tmp.x += dt*diff.x;
tmp.y += dt*diff.y;
// tmp.speed += (tmp.speed > 0) ? 1000*dt*diff.speed : 0;
tmp.speed = fmax(0, tmp.speed + dt*diff.speed/1000);
tmp.w += dt*diff.w;
if (aw > 0) {
tmp.w = fmin(wsoll, tmp.w + dt*diff.w);
} else if (aw < 0) {
tmp.w = fmax(wsoll, tmp.w + dt*diff.w);
}
tmp.dir += dt*diff.dir;

/*check for collisions TODO: optimize*/

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