updatecrrDOC1

yy1717

2020-01-21 7c66884c800b0b48c2b3aac2ac29ff0b4529b95e

 lib/src/main/cpp/test_items/park_bottom.cpp

@@ -292,44 +292,43 @@
    Line track1;
    PointF p1, p2;

    MakeLine(&leftCtrlLine, &map->point[0], &map->point[1]);
    MakeLine(&rightCtrlLine, &map->point[6], &map->point[7]);

    MakeLine(&leftCtrlLine, &(map->point[0]), &(map->point[1]));
    MakeLine(&rightCtrlLine, &(map->point[6]), &map->point[7]);
    // 左前轮，取轮宽的中点
    p1.X = (car->carXY[car->left_front_tire[TIRE_OUTSIDE]].X + car->carXY[car->left_front_tire[TIRE_INSIDE]].X) / 2;
    p1.Y = (car->carXY[car->left_front_tire[TIRE_OUTSIDE]].Y + car->carXY[car->left_front_tire[TIRE_INSIDE]].Y) / 2;

    p2.X = (prev_car->carXY[prev_car->left_front_tire[TIRE_OUTSIDE]].X + prev_car->carXY[prev_car->left_front_tire[TIRE_INSIDE]].X) / 2;
    p2.Y = (prev_car->carXY[prev_car->left_front_tire[TIRE_OUTSIDE]].Y + prev_car->carXY[prev_car->left_front_tire[TIRE_INSIDE]].Y) / 2;

    p2.X = (prev_car->carXY[car->left_front_tire[TIRE_OUTSIDE]].X + prev_car->carXY[car->left_front_tire[TIRE_INSIDE]].X) / 2;
    p2.Y = (prev_car->carXY[car->left_front_tire[TIRE_OUTSIDE]].Y + prev_car->carXY[car->left_front_tire[TIRE_INSIDE]].Y) / 2;
    MakeLine(&track1, &p1, &p2);
    
    if (IntersectionOf(track1, leftCtrlLine) == GM_Intersection &&
        IntersectionOf(p1, map) == GM_None) {
            IntersectionOfLine(map->point[0], map->point[1], p1) == -1
        /*IntersectionOf(p1, map) == GM_None*/) {
        leftTireCrossLeftLine = true;
        DEBUG("左轮跨越左控制线");
    }

    if (IntersectionOf(track1, rightCtrlLine) == GM_Intersection &&
        IntersectionOf(p1, map) == GM_None) {
            IntersectionOfLine(map->point[6], map->point[7], p1) == -1
        /*IntersectionOf(p1, map) == GM_None*/) {
        leftTireCrossRightLine = true;
        DEBUG("左轮跨越右控制线");
    }

    // 右前轮
    p1.X = (car->carXY[car->right_front_tire[TIRE_OUTSIDE]].X + car->carXY[car->right_front_tire[TIRE_INSIDE]].X) / 2;
    p1.Y = (car->carXY[car->right_front_tire[TIRE_OUTSIDE]].Y + car->carXY[car->right_front_tire[TIRE_INSIDE]].Y) / 2;

    p2.X = (prev_car->carXY[prev_car->right_front_tire[TIRE_OUTSIDE]].X + prev_car->carXY[prev_car->right_front_tire[TIRE_INSIDE]].X) / 2;
    p2.Y = (prev_car->carXY[prev_car->right_front_tire[TIRE_OUTSIDE]].Y + prev_car->carXY[prev_car->right_front_tire[TIRE_INSIDE]].Y) / 2;

    p2.X = (prev_car->carXY[car->right_front_tire[TIRE_OUTSIDE]].X + prev_car->carXY[car->right_front_tire[TIRE_INSIDE]].X) / 2;
    p2.Y = (prev_car->carXY[car->right_front_tire[TIRE_OUTSIDE]].Y + prev_car->carXY[car->right_front_tire[TIRE_INSIDE]].Y) / 2;
    MakeLine(&track1, &p1, &p2);

    if (IntersectionOf(track1, leftCtrlLine) == GM_Intersection &&
        IntersectionOf(p1, map) == GM_None) {
            IntersectionOfLine(map->point[0], map->point[1], p1) == -1
        /*IntersectionOf(p1, map) == GM_None*/) {
        rightTireCrossLeftLine = true;
        DEBUG("右轮跨越左控制线");
    }
    if (IntersectionOf(track1, rightCtrlLine) == GM_Intersection &&
        IntersectionOf(p1, map) == GM_None) {
            IntersectionOfLine(map->point[6], map->point[7], p1) == -1
        /*IntersectionOf(p1, map) == GM_None*/) {
        rightTireCrossRightLine = true;
        DEBUG("右轮跨越右控制线");
    }
}

@@ -373,7 +372,7 @@
    }

    for (int i = 0; i < sizeof(red_lines) / sizeof(red_lines[0]); ++i) {
        MakeLine(&red_line, &map->point[red_lines[i][0]], &map->point[red_lines[i][1]]);
        MakeLine(&red_line, &(map->point[red_lines[i][0]]), &(map->point[red_lines[i][1]]));
        if (IntersectionOf(red_line, &car_body) != GM_None) {
            ret = true;
            break;