From 53be5cac481ddc7927ca3f8fe75a5180f0d6567a Mon Sep 17 00:00:00 2001
From: fctom1215 <fctom1215@outlook.com>
Date: 星期五, 27 三月 2020 00:16:33 +0800
Subject: [PATCH] 角度修正。
---
lib/src/main/cpp/test_items2/drive_straight.cpp | 29 +++++++++++++++++------------
1 files changed, 17 insertions(+), 12 deletions(-)
diff --git a/lib/src/main/cpp/test_items2/drive_straight.cpp b/lib/src/main/cpp/test_items2/drive_straight.cpp
index ee94653..16a8832 100644
--- a/lib/src/main/cpp/test_items2/drive_straight.cpp
+++ b/lib/src/main/cpp/test_items2/drive_straight.cpp
@@ -56,23 +56,28 @@
crossStartLine = true;
startPoint = car->basePoint;
edgeDistance = DistanceOf(car->basePoint, road_edge);
+
+ DEBUG("褰撳墠鍩哄噯璺竟闂磋窛 %f", edgeDistance);
}
} else {
double distanceToStart = DistanceOf(car->basePoint, startPoint);
- if (distanceToStart > CHECK_STAGE_DISTANCE) {
- if (!reportOffsetOver && fabs(DistanceOf(car->basePoint, road_edge) - edgeDistance) > MAX_OFFSET_DISTANCE) {
- DEBUG("鐩寸嚎鍋忕Щ澶т簬30鍘樼背");
- // 鍋忕Щ澶т簬30鍘樼背锛屼笉鍚堟牸
- AddExamFault(30, rtkTime);
- reportOffsetOver = true;
+ DEBUG("璺竟闂磋窛 %f --- %f", DistanceOf(car->basePoint, road_edge), edgeDistance);
- //////////////////////////////////////////////
- startPoint = car->basePoint;
- edgeDistance = DistanceOf(car->basePoint, road_edge);
- reportOffsetOver = false;
- }
- } else {
+ if (!reportOffsetOver && fabs(DistanceOf(car->basePoint, road_edge) - edgeDistance) > MAX_OFFSET_DISTANCE) {
+ DEBUG("鐩寸嚎鍋忕Щ澶т簬30鍘樼背");
+ // 鍋忕Щ澶т簬30鍘樼背锛屼笉鍚堟牸
+ AddExamFault(30, rtkTime);
+ reportOffsetOver = true;
+
+ //////////////////////////////////////////////
+ startPoint = car->basePoint;
+ edgeDistance = DistanceOf(car->basePoint, road_edge);
+ reportOffsetOver = false;
+ }
+
+ if (distanceToStart > CHECK_STAGE_DISTANCE) {
+ DEBUG("澶嶄綅杈硅窛鍋忕Щ閲�");
startPoint = car->basePoint;
edgeDistance = DistanceOf(car->basePoint, road_edge);
reportOffsetOver = false;
--
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