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pr0n!

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This commit is contained in:
Stefan Bühler 2008-07-13 23:57:10 +02:00
parent b835ace69f
commit 66d5b5f065
4 changed files with 24 additions and 16 deletions
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14
src/control.h
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@ -133,6 +133,8 @@ INLINE void vehicle_right(trial *t);
INLINE void vehicle_hard_right(trial *t); INLINE void vehicle_hard_right(trial *t);
INLINE timestamp getcurts(trial *t); INLINE timestamp getcurts(trial *t);
INLINE double fixangle(double a);
INLINE double fixdirection(double a);
/* needed by parser */ /* needed by parser */
telemetry* telemetry_new(); telemetry* telemetry_new();
@ -229,4 +231,16 @@ INLINE timestamp getcurts(trial *t) {
return ts; return ts;
} }
INLINE double fixangle(double a) {
while (a < -180) a += 360;
while (a > 180) a -= 360;
return a;
}
INLINE double fixdirection(double a) {
while (a < 0) a += 360;
while (a > 360) a -= 360;
return a;
}
#endif #endif

19
src/lookahead.c
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@ -49,8 +49,8 @@ void fit_parameter(telemetry* t1, telemetry* t2, telemetry* t3, map* m){
dt1 = (t2->ts - t1->ts); dt1 = (t2->ts - t1->ts);
dt2 = (t3->ts - t2->ts); dt2 = (t3->ts - t2->ts);
a1 = (v2->speed - v1->speed)/dt1; a1 = 1000*(v2->speed - v1->speed)/dt1;
a2 = (v3->speed - v2->speed)/dt2; a2 = 1000*(v3->speed - v2->speed)/dt2;
if(a1/a2 > 1.1 || a1/a2 < 0.9){ if(a1/a2 > 1.1 || a1/a2 < 0.9){
fprintf(stderr,"Inconsistent accelerations: a1: %f a2: %f. inaccurate results possible\n",a1,a2); fprintf(stderr,"Inconsistent accelerations: a1: %f a2: %f. inaccurate results possible\n",a1,a2);
@ -91,6 +91,7 @@ void sim_update(trial* t){
t->sim.tm.vehicle.dir - t->vehicle.dir, 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);
/*update simulation vehicle from telemetry: everything and calculate w*/ /*update simulation vehicle from telemetry: everything and calculate w*/
t->sim.tm.vehicle = tm->vehicle; t->sim.tm.vehicle = tm->vehicle;
@ -102,6 +103,7 @@ void sim_update(trial* t){
t->sim.tm.vehicle.w = (tm->vehicle.dir - tmp->vehicle.dir)/(tm->ts - tmp->ts); t->sim.tm.vehicle.w = (tm->vehicle.dir - tmp->vehicle.dir)/(tm->ts - tmp->ts);
} }
// 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);
} }
int dgl(trial* t, vehicle* after, vehicle* before, timestamp h, timestamp deltat){ int dgl(trial* t, vehicle* after, vehicle* before, timestamp h, timestamp deltat){
@ -118,18 +120,17 @@ int dgl(trial* t, vehicle* after, vehicle* before, timestamp h, timestamp deltat
a = t->map.a; a = t->map.a;
k = t->map.k; k = t->map.k;
aw = t->map.aw;
wsoll = turn2w(t,before->turn); wsoll = turn2w(t,before->turn);
aw *= (before->w > wsoll) ? -1 : 1;
for(i = 0;i<=end;i++){ for(i = 0;i<=end;i++){
if(i == end) dt = deltat - end*dt; if(i == end) dt = deltat - end*dt;
aw = t->map.aw * ((before->w > wsoll) ? -1 : 1);
/*calculate derivative*/ /*calculate derivative*/
diff.x = cos(tmp.dir)*tmp.speed/1000; diff.x = cos(tmp.dir*M_PI/180)*tmp.speed/1000;
diff.y = sin(tmp.dir)*tmp.speed/1000; diff.y = sin(tmp.dir*M_PI/180)*tmp.speed/1000;
diff.speed = a - k*tmp.speed*tmp.speed*1e-6; diff.speed = a - k*tmp.speed*tmp.speed;
// diff.speed = fmax(-tmp.speed/1000,a - k*tmp.speed*tmp.speed*1e-6); // diff.speed = fmax(-tmp.speed/1000,a - k*tmp.speed*tmp.speed*1e-6);
diff.w = (tmp.w == wsoll) ? 0 : aw; diff.w = (tmp.w == wsoll) ? 0 : aw;
diff.dir = tmp.w; diff.dir = tmp.w;
@ -137,7 +138,7 @@ int dgl(trial* t, vehicle* after, vehicle* before, timestamp h, timestamp deltat
tmp.x += dt*diff.x; tmp.x += dt*diff.x;
tmp.y += dt*diff.y; tmp.y += dt*diff.y;
// tmp.speed += (tmp.speed > 0) ? 1000*dt*diff.speed : 0; // tmp.speed += (tmp.speed > 0) ? 1000*dt*diff.speed : 0;
tmp.speed = fmax(0, tmp.speed + dt*1000*diff.speed); tmp.speed = fmax(0, tmp.speed + dt*diff.speed);
tmp.w += dt*diff.w; tmp.w += dt*diff.w;
tmp.dir += dt*diff.dir; tmp.dir += dt*diff.dir;
@ -157,7 +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 = tmp.dir; after->dir = fixdirection(tmp.dir);
return 0; return 0;
} }

6
src/radar.c
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@ -27,12 +27,6 @@ angle* angle_new(double a, int c) {
return x; return x;
} }
static double fixangle(double a) {
while (a < -180) a += 360;
while (a > 180) a -= 360;
return a;
}
int distance_weight(double distance) { int distance_weight(double distance) {
if (distance > 50) { if (distance > 50) {
if (distance > 150) return 0; if (distance > 150) return 0;

1
src/radar_main.c
View File

@ -33,7 +33,6 @@ void trial_loop(trial *t) {
(telemetry*) g_queue_peek_nth(&t->telemetry,4), (telemetry*) g_queue_peek_nth(&t->telemetry,4),
&t->map); &t->map);
fprintf(stderr,"Fitparameter: a: %f aw: %f k: %f\n",t->map.a,t->map.aw,t->map.k); fprintf(stderr,"Fitparameter: a: %f aw: %f k: %f\n",t->map.a,t->map.aw,t->map.k);
} }
while (t->alive) { while (t->alive) {
radar_dgl(t, getcurts(t) + LATENCY); radar_dgl(t, getcurts(t) + LATENCY);