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; -- Gitblit v1.8.0