From 46f56f26bfcc6ce26ffd8132ee11bf019eef3289 Mon Sep 17 00:00:00 2001
From: yy1717 <fctom1215@outlook.com>
Date: 星期一, 13 四月 2020 11:48:28 +0800
Subject: [PATCH] 计算边距
---
lib/src/main/cpp/test_items/turn_a90.cpp | 16 ++++++++++++++++
1 files changed, 16 insertions(+), 0 deletions(-)
diff --git a/lib/src/main/cpp/test_items/turn_a90.cpp b/lib/src/main/cpp/test_items/turn_a90.cpp
index 5f19758..b0777ea 100644
--- a/lib/src/main/cpp/test_items/turn_a90.cpp
+++ b/lib/src/main/cpp/test_items/turn_a90.cpp
@@ -11,6 +11,7 @@
#include "../defs.h"
#include "../test_common/car_sensor.h"
#include "../master/comm_if.h"
+#include "area_exam.h"
#include <vector>
#include <cstdlib>
@@ -55,12 +56,27 @@
int TestTurnA90(const Polygon *map, const car_model *car, const car_model *carPrev, double heading, double speed, int moveDirect, const struct RtkTime *rtkTime)
{
int az = (int) heading;
+ vector<double> dtox;
+ vector<Line> line_set;
+ Line distance_line;
if (ExitTestArea(map, car)) {
testing = false;
goto TEST_END;
}
+ // 璺濈妫�娴�
+ MakeLine(&distance_line, &map->point[0], &map->point[5]);
+ line_set.push_back(distance_line);
+ MakeLine(&distance_line, &map->point[5], &map->point[4]);
+ line_set.push_back(distance_line);
+ MakeLine(&distance_line, &map->point[1], &map->point[2]);
+ line_set.push_back(distance_line);
+ MakeLine(&distance_line, &map->point[2], &map->point[3]);
+ line_set.push_back(distance_line);
+ DistanceOfTire2X(dtox, car, line_set);
+ MA_SendDistance(dtox[0], dtox[1]);
+
if (CrashRedLine(map, car)) {
if (!crashRedLine) {
crashRedLine = true;
--
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