[Krobot-commits] [SCM] krobot branch, master, updated. 896f3b133a8cb61279c49959082fb53ee066fb6b

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 896f3b133a8cb61279c49959082fb53ee066fb6b
Author: Jérémie Dimino <je...@di...>
Date:   Mon Apr 25 22:41:19 2011 +0200

    [info] handle backward trajectories

-----------------------------------------------------------------------

Changes:
diff --git a/info/control2011/src/lib/krobot_geom.ml b/info/control2011/src/lib/krobot_geom.ml
index 7ca6909..8f09d85 100644
--- a/info/control2011/src/lib/krobot_geom.ml
+++ b/info/control2011/src/lib/krobot_geom.ml
@@ -149,43 +149,43 @@ module Bezier = struct
     translate origin ((b.a *| t3) +| (b.b *| t2) +| (b.c *| t1) +| b.p)
 
   let fold_vertices f initial vertices acc =
-    let add_vertices q r v1 v2 acc = f q (translate q v1) (translate r v2) r acc in
+    let add_vertices sign q r v1 v2 acc = f sign q (translate q v1) (translate r v2) r acc in
 
     (* Compute cubic bezier curves. *)
-    let rec loop acc = function
+    let rec loop sign acc = function
       |  p :: (q :: r :: s :: _ as rest) ->
            (* Computes tangents with a length that is half of the
               minimum length of the adjacent segments. *)
            let _, v1 = tangents p q r and v2, _ = tangents q r s in
            let v1 = v1 *| (min (distance p q) (distance q r) /. 2.)
            and v2 = v2 *| (min (distance q r) (distance r s) /. 2.) in
-           loop (add_vertices q r v1 v2 acc) rest
+           loop sign (add_vertices sign q r v1 v2 acc) rest
       | [p; q; r] ->
           let _, v1 = tangents p q r and v2 = vector r q /| distance q r in
           let v1 = v1 *| (min (distance p q) (distance q r) /. 2.)
           and v2 = v2 *| (distance q r /. 2.) in
-          add_vertices q r v1 v2 acc
+          add_vertices sign q r v1 v2 acc
       | _ ->
           acc
     in
     match vertices with
       | q :: r :: s :: _ ->
-          let initial = if prod initial (vector q r) < 0. then minus initial else initial in
+          let initial, sign = if prod initial (vector q r) < 0. then (minus initial, -1.) else (initial, 1.) in
           let v1 = initial
           and v2, _ = tangents q r s in
           let v1 = v1 *| (distance q r /. 2.)
           and v2 = v2 *| (distance q r /. 2.) in
-          loop (add_vertices q r v1 v2 acc) vertices
+          loop sign (add_vertices sign q r v1 v2 acc) vertices
       | [q; r] ->
-          let initial = if prod initial (vector q r) < 0. then minus initial else initial in
+          let initial, sign = if prod initial (vector q r) < 0. then (minus initial, -1.) else (initial, 1.) in
           let v1 = initial
           and v2 = vector r q /| distance q r  in
           let v1 = v1 *| (distance q r /. 2.)
           and v2 = v2 *| (distance q r /. 2.) in
-          add_vertices q r v1 v2 acc
+          add_vertices sign q r v1 v2 acc
       | [_] | [] ->
           acc
 
   let fold_curves f initial vertices acc =
-    fold_vertices (fun p q r s acc -> f (of_vertices p q r s) acc) initial vertices acc
+    fold_vertices (fun sign p q r s acc -> f (of_vertices p q r s) acc) initial vertices acc
 end
diff --git a/info/control2011/src/lib/krobot_geom.mli b/info/control2011/src/lib/krobot_geom.mli
index abebd94..df40b0d 100644
--- a/info/control2011/src/lib/krobot_geom.mli
+++ b/info/control2011/src/lib/krobot_geom.mli
@@ -76,7 +76,8 @@ module Bezier : sig
         passing through the given list of vertices. [vector] is the
         initial direction vector. *)
 
-  val fold_vertices : (vertice -> vertice -> vertice -> vertice -> 'a -> 'a) -> vector -> vertice list -> 'a -> 'a
+  val fold_vertices : (float -> vertice -> vertice -> vertice -> vertice -> 'a -> 'a) -> vector -> vertice list -> 'a -> 'a
     (** [fold_vertices f vector vertices acc] same as {!fold_curves}
-        but pass parameters instead of curves to [f]. *)
+        but pass parameters instead of curves to [f]. The first
+        parameter passed to [f] is the sign of [d1]. *)
 end
diff --git a/info/control2011/src/tools/krobot_planner.ml b/info/control2011/src/tools/krobot_planner.ml
index 5f872e5..e1e3596 100644
--- a/info/control2011/src/tools/krobot_planner.ml
+++ b/info/control2011/src/tools/krobot_planner.ml
@@ -41,7 +41,7 @@ type planner = {
   mutable vertices : vertice list;
   (* The list of vertices for the trajectory. *)
 
-  mutable curves : (vertice * vertice * vertice * vertice) list;
+  mutable curves : (float * vertice * vertice * vertice * vertice) list;
   (* The parameters of bezier curves. *)
 
   mutable moving : bool;
@@ -87,10 +87,11 @@ let set_vertices planner ?curves vertices =
           l
       | None ->
           let v = { vx = cos planner.orientation; vy = sin planner.orientation } in
-          List.rev (Bezier.fold_vertices (fun p q r s acc -> (p, q, r, s) :: acc) v vertices [])
+          List.rev (Bezier.fold_vertices (fun sign p q r s acc -> (sign, p, q, r, s) :: acc) v vertices [])
   in
   planner.curves <- curves;
-  ignore (Krobot_bus.send planner.bus (Unix.gettimeofday (), Trajectory_vertices(vertices, curves)))
+  ignore (Krobot_bus.send planner.bus (Unix.gettimeofday (), Trajectory_vertices(vertices,
+                                                                                 List.map (fun (sign, p, q, r, s) -> (p, q, r, s)) curves)))
 
 let set_moving planner moving =
   planner.moving <- moving;
@@ -210,9 +211,9 @@ let go planner rotation_speed rotation_acceleration moving_speed moving_accelera
     planner.mover <- (
       try_lwt
         (* Send a bezier curve to the robot. *)
-        let send_curve (p, q, r, s) v_end =
+        let send_curve (sign, p, q, r, s) v_end =
           (* Compute parameters. *)
-          let d1 = distance p q and d2 = distance r s in
+          let d1 = sign *. distance p q and d2 = distance r s in
           let v = vector r s in
           let theta_end = atan2 v.vy v.vx in
 
@@ -311,7 +312,7 @@ let handle_message planner (timestamp, message) =
           let ts = Unix.gettimeofday () in
           let vertices = if planner.moving then planner.vertices else planner.position :: planner.vertices in
           join [
-            Krobot_bus.send planner.bus (ts, Trajectory_vertices(vertices, planner.curves));
+            Krobot_bus.send planner.bus (ts, Trajectory_vertices(vertices, List.map (fun (sign, p, q, r, s) -> (p, q, r, s)) planner.curves));
             Krobot_bus.send planner.bus (ts, Trajectory_moving planner.moving);
           ]
         )


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