From 7c66884c800b0b48c2b3aac2ac29ff0b4529b95e Mon Sep 17 00:00:00 2001
From: yy1717 <fctom1215@outlook.com>
Date: 星期二, 21 一月 2020 15:00:12 +0800
Subject: [PATCH] updatecrrDOC1
---
lib/src/main/cpp/test_items/park_bottom.cpp | 39 +++++++++++++++++++--------------------
1 files changed, 19 insertions(+), 20 deletions(-)
diff --git a/lib/src/main/cpp/test_items/park_bottom.cpp b/lib/src/main/cpp/test_items/park_bottom.cpp
index e25b216..9c4d4ba 100644
--- a/lib/src/main/cpp/test_items/park_bottom.cpp
+++ b/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]);
// 宸﹀墠杞紝鍙栬疆瀹界殑涓偣
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("宸﹁疆璺ㄨ秺宸︽帶鍒剁嚎");
}
-
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("宸﹁疆璺ㄨ秺鍙虫帶鍒剁嚎");
}
-
// 鍙冲墠杞�
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("鍙宠疆璺ㄨ秺宸︽帶鍒剁嚎");
}
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("鍙宠疆璺ㄨ秺鍙虫帶鍒剁嚎");
}
}
@@ -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;
--
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