更新地图

yy1717

2020-03-05 7147f8046917a14e71f2330709e73aadb9844d30

 lib/src/main/cpp/driver_test.cpp

@@ -851,18 +851,18 @@
//        if (mapList[i].type == MAP_TYPE_CURVE) {
//
//        }
        if (mapList[i].type == MAP_TYPE_PARK_BUTTOM) {
            if (IntersectionOf(car->carXY[ car->axial[AXIAL_FRONT] ], &mapList[i].map) == GM_Containment) {
                Line enterLine1, enterLine2;

                MakeLine(&enterLine1, &(mapList[i].map.point[0]), &(mapList[i].map.point[1]));
                MakeLine(&enterLine2, &(mapList[i].map.point[6]), &(mapList[i].map.point[7]));

                if (DistanceOf(car->carXY[car->axial[AXIAL_FRONT]], enterLine1) > 0.1 &&
                    DistanceOf(car->carXY[car->axial[AXIAL_FRONT]], enterLine2) > 0.1)
                    return i;
            }
        }
//        if (mapList[i].type == MAP_TYPE_PARK_BUTTOM) {
//            if (IntersectionOf(car->carXY[ car->axial[AXIAL_FRONT] ], &mapList[i].map) == GM_Containment) {
//                Line enterLine1, enterLine2;
//
//                MakeLine(&enterLine1, &(mapList[i].map.point[0]), &(mapList[i].map.point[1]));
//                MakeLine(&enterLine2, &(mapList[i].map.point[6]), &(mapList[i].map.point[7]));
//
//                if (DistanceOf(car->carXY[car->axial[AXIAL_FRONT]], enterLine1) > 0.1 &&
//                    DistanceOf(car->carXY[car->axial[AXIAL_FRONT]], enterLine2) > 0.1)
//                    return i;
//            }
//        }
//        if (mapList[i].type == MAP_TYPE_PART_EDGE) {
//            if (IntersectionOf(car->carXY[ car->axial[AXIAL_FRONT] ], &mapList[i].map) == GM_Containment) {
//                Line enterLine;
@@ -883,18 +883,18 @@
//                    return i;
//            }
//        }
//        if (mapList[i].type == MAP_TYPE_CURVE) {
//            Line startLine;
//            Line carAxial;
//
//            MakeLine(&startLine, &mapList[i].map.point[0], &mapList[i].map2.point[0]);
//            MakeLine(&carAxial, &car->carXY[car->axial[AXIAL_FRONT]], &car->carXY[car->axial[AXIAL_REAR]]);
//
//            if (IntersectionOf(startLine, carAxial) == GM_Intersection) {
//                if (DistanceOf(car->carXY[car->axial[AXIAL_FRONT]], startLine) > 0.1)
//                    return i;
//            }
//        }
        if (mapList[i].type == MAP_TYPE_CURVE) {
            Line startLine;
            Line carAxial;

            MakeLine(&startLine, &mapList[i].map.point[0], &mapList[i].map2.point[0]);
            MakeLine(&carAxial, &car->carXY[car->axial[AXIAL_FRONT]], &car->carXY[car->axial[AXIAL_REAR]]);

            if (IntersectionOf(startLine, carAxial) == GM_Intersection) {
                if (DistanceOf(car->carXY[car->axial[AXIAL_FRONT]], startLine) > 0.1)
                    return i;
            }
        }
    }
    return -1;
}