From 345dcbfaf5a716fdd8649885c32c34b50d361968 Mon Sep 17 00:00:00 2001
From: yy1717 <fctom1215@outlook.com>
Date: 星期五, 28 二月 2020 17:39:58 +0800
Subject: [PATCH] 更新地图
---
lib/src/main/cpp/driver_test.cpp | 16 +++++++++++-----
1 files changed, 11 insertions(+), 5 deletions(-)
diff --git a/lib/src/main/cpp/driver_test.cpp b/lib/src/main/cpp/driver_test.cpp
index d9adce2..1fccf31 100644
--- a/lib/src/main/cpp/driver_test.cpp
+++ b/lib/src/main/cpp/driver_test.cpp
@@ -997,7 +997,9 @@
for (int i = 0; i < carModel->pointNum; ++i) {
double qrx = carModel->carDesc[i].distance * sin(toRadians(carModel->carDesc[i].angle));
- double qry = carModel->carDesc[i].distance * cos(toRadians(carModel->carDesc[i].angle)) * cos(toRadians(pitch));
+ double qry =
+ carModel->carDesc[i].distance * cos(toRadians(carModel->carDesc[i].angle)) *
+ cos(toRadians(pitch));
double projectDistance = sqrt(pow(qrx, 2) + pow(qry, 2));
double projectAngle = toDegree(acos(qry / projectDistance));
@@ -1009,10 +1011,14 @@
// double tx = projectDistance*sin(toRadians(azimuth));
// double ty = projectDistance*cos(toRadians(azimuth));
- carModel->carXY[i].X = projectDistance*sin(toRadians(azimuth)) * cos(toRadians(projectAngle)) -
- projectDistance*cos(toRadians(azimuth)) * sin(toRadians(projectAngle)) + main_ant.X;
- carModel->carXY[i].Y = projectDistance*sin(toRadians(azimuth)) * sin(toRadians(projectAngle)) +
- projectDistance*cos(toRadians(azimuth)) * cos(toRadians(projectAngle)) + main_ant.Y;
+ carModel->carXY[i].X =
+ projectDistance * sin(toRadians(azimuth)) * cos(toRadians(projectAngle)) -
+ projectDistance * cos(toRadians(azimuth)) * sin(toRadians(projectAngle)) +
+ main_ant.X;
+ carModel->carXY[i].Y =
+ projectDistance * sin(toRadians(azimuth)) * sin(toRadians(projectAngle)) +
+ projectDistance * cos(toRadians(azimuth)) * cos(toRadians(projectAngle)) +
+ main_ant.Y;
}
}
--
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