[Robotflow-cvs] RobotFlow/Behaviors/src GotoPat.cc,1.4,1.5 RangeFashion.cc,1.6,1.7 SafeVelocityPat.c

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Update of /cvsroot/robotflow/RobotFlow/Behaviors/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv27144

Modified Files:
	GotoPat.cc RangeFashion.cc SafeVelocityPat.cc 
Log Message:
- Minors revisions


Index: RangeFashion.cc
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/Behaviors/src/RangeFashion.cc,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** RangeFashion.cc	4 Jul 2005 11:21:11 -0000	1.6
--- RangeFashion.cc	5 Jul 2005 23:04:29 -0000	1.7
***************
*** 65,68 ****
--- 65,88 ----
   * @parameter_value 0
   *
+  * @parameter_name MAX_DIST
+  * @parameter_description  Distance when no data from sensor (mm)
+  * @parameter_type int
+  * @parameter_value 10000
+  *
+  * @parameter_name MAX_DIST_IR
+  * @parameter_description  Max range detection of IR (mm)
+  * @parameter_type int
+  * @parameter_value 1000
+  *
+  * @parameter_name MAX_DIST_SONAR
+  * @parameter_description  Max range detection of sonar (mm)
+  * @parameter_type int
+  * @parameter_value 10000 
+  *
+  * @parameter_name MAX_DIST_LASER
+  * @parameter_description  Max range detection of laser (mm)
+  * @parameter_type int
+  * @parameter_value 10000 
+  *
  END*/
  
***************
*** 80,83 ****
--- 100,107 ----
    //parameters
    int m_typeFashion;
+   int m_maxDist;
+   int m_maxDistIR;
+   int m_maxDistSonar;
+   int m_maxDistLaser;
    
    void priorityBaseFashion(Vector<int> *vectPercept, ObjectRef &laserValue, ObjectRef &sonarValue, ObjectRef &irValue, int count){
***************
*** 95,99 ****
            int i=0;
            for(iterIR = irReading.begin(); iterIR != irReading.end(); ++iterIR){
!               if(*iterIR <= 1000)  // Max value IR
                    (*vectPercept)[i]=*iterIR;
  	      ++i;
--- 119,123 ----
            int i=0;
            for(iterIR = irReading.begin(); iterIR != irReading.end(); ++iterIR){
!               if(*iterIR <= m_maxDistIR)  // Max value IR
                    (*vectPercept)[i]=*iterIR;
  	      ++i;
***************
*** 124,128 ****
                
                // Get the 3 mins of the range
!               int min1=10000, min2=10000, min3=10000;
                for(int j=begin; j<end; ++j){
                    if(laserReading[j] <= min1){
--- 148,152 ----
                
                // Get the 3 mins of the range
!               int min1=m_maxDist, min2=m_maxDist, min3=m_maxDist;
                for(int j=begin; j<end; ++j){
                    if(laserReading[j] <= min1){
***************
*** 156,160 ****
  	      
            // Save the value
!           if(((*vectPercept)[ind_vectPercept] == -1) && (x_min < 10000)){	      
               (*vectPercept)[ind_vectPercept] = x_min - offset;
  	      }
--- 180,184 ----
  	      
            // Save the value
!           if(((*vectPercept)[ind_vectPercept] == -1) && (x_min < m_maxDistLaser)){	      
               (*vectPercept)[ind_vectPercept] = x_min - offset;
  	      }
***************
*** 182,186 ****
            int i=0;
            for(iterSonar = sonarReading.begin(); iterSonar != sonarReading.end(); ++iterSonar) {
!               if(((*vectPercept)[i] == -1) && (*iterSonar<10000))  // Max value Sonar
                    (*vectPercept)[i]=*iterSonar;
                ++i;
--- 206,210 ----
            int i=0;
            for(iterSonar = sonarReading.begin(); iterSonar != sonarReading.end(); ++iterSonar) {
!               if(((*vectPercept)[i] == -1) && (*iterSonar<m_maxDistSonar))  // Max value Sonar
                    (*vectPercept)[i]=*iterSonar;
                ++i;
***************
*** 198,202 ****
        for(iterPercept = vectPercept->begin(); iterPercept != vectPercept->end(); ++iterPercept) {
          if(*iterPercept < 0)  
!             *iterPercept = 10000;
        }
        
--- 222,226 ----
        for(iterPercept = vectPercept->begin(); iterPercept != vectPercept->end(); ++iterPercept) {
          if(*iterPercept < 0)  
!             *iterPercept = m_maxDist;
        }
        
***************
*** 223,227 ****
       
       // parameters
!      m_typeFashion = dereference_cast<int>(parameters.get("TYPE_FASHION"));
     }
  
--- 247,255 ----
       
       // parameters
!      m_typeFashion  = dereference_cast<int>(parameters.get("TYPE_FASHION"));
!      m_maxDist      = dereference_cast<int>(parameters.get("MAX_DIST"));
!      m_maxDistIR    = dereference_cast<int>(parameters.get("MAX_DIST_IR"));
!      m_maxDistSonar = dereference_cast<int>(parameters.get("MAX_DIST_SONAR"));
!      m_maxDistLaser = dereference_cast<int>(parameters.get("MAX_DIST_LASER"));
     }
  

Index: SafeVelocityPat.cc
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/Behaviors/src/SafeVelocityPat.cc,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** SafeVelocityPat.cc	4 Jul 2005 11:21:11 -0000	1.6
--- SafeVelocityPat.cc	5 Jul 2005 23:04:29 -0000	1.7
***************
*** 111,114 ****
--- 111,123 ----
    float m_b;
  
+   float getMinMargin(const Vector<float> &vector, int begin, int end){
+      float margin = vector[begin];
+      for(int i = begin+1; i<=end; ++i){
+          if(vector[i] < margin){
+              margin = vector[i];
+          }
+      }
+   }
+   
  public:
  
***************
*** 171,209 ****
           }
           
!          // According to the side of the rotation evaluation de margin of safety
           int rotation = dereference_cast<int>(rotationRef);
           float marginFront=1, marginBack=1;
!          if (rotation < 0){
!              // Margin at the back of the robot (range 6,7,8,9)
!              marginBack = securityMargin[6];
!              for(int i = 7; i<=9; ++i){
!                  if(securityMargin[i] < marginBack){
!                      marginBack = securityMargin[i];
!                  }
               }
!              
!              // Margin at front of the robot (range 0,1,2,3)
!              marginFront = securityMargin[0];
!              for(int i = 1; i<=3; ++i){
!                  if(securityMargin[i] < marginFront){
!                      marginFront = securityMargin[i];
!                  }
               }
           }
           else{
!              // Margin at the back of the robot (range 3,4,5,6)
!              marginBack = securityMargin[3];
!              for(int i = 4; i<=6; ++i){
!                  if(securityMargin[i] < marginBack){
!                      marginBack = securityMargin[i];
!                  }
               }
!              
!              // Margin at front of the robot (range 9,10,11,0)
!              marginFront = securityMargin[0];
!              for(int i = 9; i<=11; ++i){
!                  if(securityMargin[i] < marginFront){
!                      marginFront = securityMargin[i];
!                  }
               }
           }
--- 180,215 ----
           }
           
!          // According to the side of the rotation evaluate the margin of security
           int rotation = dereference_cast<int>(rotationRef);
           float marginFront=1, marginBack=1;
!          // Backward or forward motion
!          if(signVelIn > 0){
!              if (rotation < 0){
!                  // Back margin of the robot (range 6,7,8,9)
!                  marginBack = getMinMargin(securityMargin, 6, 9);
!                  // Front margin of the robot (range 0,1,2,3)
!                  marginFront = getMinMargin(securityMargin, 0, 3);
               }
!              else{
!                  // Back margin of the robot (range 3,4,5,6)
!                  marginBack = getMinMargin(securityMargin, 3, 6);
!                  // Front margin of the robot (range 9,10,11,0)
!                  marginFront = getMinMargin(securityMargin, 9, 11);
!                  if(securityMargin[0] < marginFront) marginFront = securityMargin[0];
               }
           }
           else{
!              if (rotation < 0){
!                  // Back margin of the robot (range 3,4,5,6)
!                  marginBack = getMinMargin(securityMargin, 3, 6);
!                  // Front margin of the robot (range 9,10,11,0)
!                  marginFront = getMinMargin(securityMargin, 9, 11);
!                  if(securityMargin[0] < marginFront) marginFront = securityMargin[0];
               }
!              else{
!                  // Back margin of the robot (range 6,7,8,9)
!                  marginBack = getMinMargin(securityMargin, 6, 9);
!                  // Front margin of the robot (range 0,1,2,3)
!                  marginFront = getMinMargin(securityMargin, 0, 3);
               }
           }

Index: GotoPat.cc
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/Behaviors/src/GotoPat.cc,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** GotoPat.cc	2 Jul 2005 02:12:43 -0000	1.4
--- GotoPat.cc	5 Jul 2005 23:04:29 -0000	1.5
***************
*** 108,112 ****
   * @parameter_value 3
   *
-  *
   * @parameter_name DISCARD_DIST_INTER_GOAL
   * @parameter_description  Distance to discard intermediate goal
--- 108,111 ----

[Robotflow-cvs] RobotFlow/Behaviors/src GotoPat.cc,1.4,1.5 RangeFashion.cc,1.6,1.7 SafeVelocityPat.c

[Robotflow-cvs] RobotFlow/Behaviors/src GotoPat.cc,1.4,1.5 RangeFashion.cc,1.6,1.7 SafeVelocityPat.cc,1.6,1.7