[Krobot-commits] [SCM] krobot branch, master, updated. 4ea1cf29d38266053fb64d3a0279213d3f6e02d3

[Pierre C. <Ba...@us...>]

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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)) ->


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