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- Log -----------------------------------------------------------------
commit 4ea1cf29d38266053fb64d3a0279213d3f6e02d3
Author: Pierre Chambart <pie...@oc...>
Date: Thu Apr 25 01:42:07 2013 +0200
Better robot radius handling in pathfinder
-----------------------------------------------------------------------
Changes:
diff --git a/info/control2011/src/lib/krobot_config.ml b/info/control2011/src/lib/krobot_config.ml
index 127b63e..be24feb 100644
--- a/info/control2011/src/lib/krobot_config.ml
+++ b/info/control2011/src/lib/krobot_config.ml
@@ -11,16 +11,20 @@ let sqr x = x *. x
let world_height = 2.
let world_width = 3.
-let robot_length = 0.39
+let robot_length = 0.22
let robot_width = 0.33
let wheels_diameter = 0.098
let wheels_distance = 0.224
let wheels_position = 0.04
+let robot_radius =
+ let l1 = robot_length -. wheels_position in
+ let l2 = robot_width /. 2. in
+ sqrt (l1 *. l1 +. l2 *. l2)
let rotary_beacon_index_pos = 0.
let safety_margin = 0.01
-let beacon_radius = 0.4
+let beacon_radius = 0.2
let coin_radius = 0.06
diff --git a/info/control2011/src/lib/krobot_config.mli b/info/control2011/src/lib/krobot_config.mli
index 159f59f..1f88fa2 100644
--- a/info/control2011/src/lib/krobot_config.mli
+++ b/info/control2011/src/lib/krobot_config.mli
@@ -32,6 +32,9 @@ val wheels_position : float
(** The distance between the axe of the wheels and the back of the
robot. *)
+val robot_radius : float
+ (** distance between the point between the wheel and the farthest point *)
+
val rotary_beacon_index_pos : float
(** The angle of the rotary beacon index angle with respect to the
robot's front *)
diff --git a/info/control2011/src/lib/krobot_path.ml b/info/control2011/src/lib/krobot_path.ml
index 679581a..49b2311 100644
--- a/info/control2011/src/lib/krobot_path.ml
+++ b/info/control2011/src/lib/krobot_path.ml
@@ -21,12 +21,12 @@ let rec prev_last = function
let find ~src ~dst ~beacon =
let fixed_objects = List.map (fun { pos; size } -> pos,
- size +. Krobot_config.robot_width /. 2. +. 0.01)
+ size +. Krobot_config.robot_radius +. 0.01)
Krobot_config.fixed_obstacles in
(* do that in a better way when we have time... *)
let init_coins = List.map (fun pos -> pos,
- Krobot_config.coin_radius +. Krobot_config.robot_width /. 2. +. 0.01)
+ Krobot_config.coin_radius +. Krobot_config.robot_radius +. 0.01)
Krobot_config.initial_coins in
let l = fixed_objects @ init_coins in
@@ -35,22 +35,23 @@ let find ~src ~dst ~beacon =
| (Some v, None)
| (None, Some v) ->
ignore (Lwt_log.info_f "One beacon %f %f" v.x v.y);
- (v, beacon_radius +. safety_margin) :: l
+ (v, beacon_radius +. safety_margin +. Krobot_config.robot_radius) :: l
| (Some v1, Some v2) ->
ignore (Lwt_log.info_f "Two beacons (%f,%f) (%f,%f)" v1.x v1.y v2.x v2.y);
- (v1, beacon_radius +. safety_margin)
- :: (v2, beacon_radius +. safety_margin)
+ (v1, beacon_radius +. safety_margin +. Krobot_config.robot_radius)
+ :: (v2, beacon_radius +. safety_margin +. Krobot_config.robot_radius)
:: l
| (None, None) ->
ignore (Lwt_log.info_f "no beacon");
l
in
let l = List.map (fun (v,s) -> (v, min s (distance v src -. 0.1))) l in
+ let min_distance = Krobot_config.robot_radius +. safety_margin in
Krobot_pathfinding.find_path ~src ~dst
- ({ x = safety_margin;
- y = safety_margin},
- { x = world_width -. safety_margin;
- y = world_height -. safety_margin})
+ ({ x = min_distance;
+ y = min_distance},
+ { x = world_width -. min_distance;
+ y = world_height -. min_distance})
l
(*
let goto_object ~src ~dst ~beacon =
diff --git a/info/control2011/src/tools/krobot_viewer.ml b/info/control2011/src/tools/krobot_viewer.ml
index 81c0ef4..900d9b3 100644
--- a/info/control2011/src/tools/krobot_viewer.ml
+++ b/info/control2011/src/tools/krobot_viewer.ml
@@ -287,6 +287,13 @@ let draw viewer =
Krobot_config.fixed_obstacles
in
+ (* Draw the robot bounding circle *)
+
+ Cairo.arc ctx viewer.state.pos.x viewer.state.pos.y
+ Krobot_config.robot_radius 0. (2. *. pi);
+ Cairo.set_source_rgba ctx 1. 1. 1. 0.5;
+ Cairo.fill ctx;
+
(* Draw the robot and the ghost *)
List.iter
(fun (state, (r,g,b,alpha)) ->
hooks/post-receive
--
krobot
|
