[Robotflow-cvs] RobotFlow/Behaviors/src AvoidPat.cc,1.8,1.9 FollowWall.cc,1.4,1.5

[Fernyqc <fe...@us...>]

Update of /cvsroot/robotflow/RobotFlow/Behaviors/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv31640

Modified Files:
	AvoidPat.cc FollowWall.cc 
Log Message:
- Remove logging n the followwall
- Minimum range computation in AvoidPat


Index: FollowWall.cc
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/Behaviors/src/FollowWall.cc,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** FollowWall.cc	18 Jun 2005 15:08:20 -0000	1.4
--- FollowWall.cc	6 Jul 2005 01:12:57 -0000	1.5
***************
*** 38,45 ****
   * @description Follow a wall if present in the robot environment
   *
-  * @input_name PARAMS
-  * @input_type int
-  * @input_description Nb of laser samples to consider in the computation. Maximum distance to be considered as a wall
-  *
   * @input_name ACTIVATED
   * @input_type bool
--- 38,41 ----
***************
*** 50,57 ****
   * @input_description All lasers reading.
   *
-  * @input_name LOG
-  * @input_type Vector<int>
-  * @input_description Log the computation
-  *
   * @output_name VELOCITY
   * @output_type int
--- 46,49 ----
***************
*** 167,173 ****
      
    //inputs
-   int paramsID;
    int laserID;
-   int logID;
  
    //outputs
--- 159,163 ----
***************
*** 222,226 ****
    
    // Evaluate the std.deviation of a vector
!   float computeVariance(vector<float>data)
    {
        float sumSquare=0;
--- 212,216 ----
    
    // Evaluate the std.deviation of a vector
!   float computeStdDev(vector<float>data)
    {
        float sumSquare=0;
***************
*** 236,240 ****
        
        // Compute variance
!       return (sumSquare-(sumXi*sumXi/n))/(n-1);
    }
  
--- 226,230 ----
        
        // Compute variance
!       return sqrt((sumSquare-(sumXi*sumXi/n))/(n-1));
    }
  
***************
*** 242,246 ****
        // Compute mean and std.deviation
        float meanBeta = computeMeanValue(angleBeta);
!       float varianceBeta = computeVariance(angleBeta) * RAD_DEGREE;
  
        // Compute angular correction and the distance to the wall
--- 232,236 ----
        // Compute mean and std.deviation
        float meanBeta = computeMeanValue(angleBeta);
!       float varianceBeta = computeStdDev(angleBeta) * RAD_DEGREE;
  
        // Compute angular correction and the distance to the wall
***************
*** 339,343 ****
  
        // Logging
!       static std::ofstream laserL("laserLeft.txt");
        static std::ofstream cmdL("cmdLeft.txt");
        static std::ofstream laserR("laserRight.txt");
--- 329,333 ----
  
        // Logging
!       /*static std::ofstream laserL("laserLeft.txt");
        static std::ofstream cmdL("cmdLeft.txt");
        static std::ofstream laserR("laserRight.txt");
***************
*** 357,367 ****
            // Compute mean and std.deviation
            float meanBeta = computeMeanValue(angleBetaLeft)*RAD_DEGREE;
!           float varianceBeta = computeVariance(angleBetaLeft);
            cmdL << "log" << logNumber << "\t" << meanBeta << "\t" << varianceBeta  << "\t" << aLeft << "\t" << distWallLeft << "\t" << angularCorrectionLeft << "\t" << wallLeft << std::endl; 
            meanBeta = computeMeanValue(angleBetaRight)*RAD_DEGREE;
!           varianceBeta = computeVariance(angleBetaRight);
            cmdR << "log" << logNumber << "\t" << meanBeta << "\t" << varianceBeta  << "\t" << aRight << "\t" << distWallRight << "\t" << angularCorrectionLeft << "\t" << wallRight << std::endl; 
            ++logNumber;
!       }
    }
    
--- 347,357 ----
            // Compute mean and std.deviation
            float meanBeta = computeMeanValue(angleBetaLeft)*RAD_DEGREE;
!           float varianceBeta = computeStdDev(angleBetaLeft);
            cmdL << "log" << logNumber << "\t" << meanBeta << "\t" << varianceBeta  << "\t" << aLeft << "\t" << distWallLeft << "\t" << angularCorrectionLeft << "\t" << wallLeft << std::endl; 
            meanBeta = computeMeanValue(angleBetaRight)*RAD_DEGREE;
!           varianceBeta = computeStdDev(angleBetaRight);
            cmdR << "log" << logNumber << "\t" << meanBeta << "\t" << varianceBeta  << "\t" << aRight << "\t" << distWallRight << "\t" << angularCorrectionLeft << "\t" << wallRight << std::endl; 
            ++logNumber;
!       }*/
    }
    
***************
*** 408,414 ****
  
       //Inputs
-      paramsID = addInput("PARAMS");
       laserID  = addInput("LASERS");
-      logID    = addInput("LOG");
       
       //Outputs
--- 398,402 ----
***************
*** 518,524 ****
     void calculate_behavior(int output_id, int count, Buffer &out) 
     {
-      // Get behavior params
-      ObjectRef paramsValue = getInput(paramsID,count);
-      
       // Get laser readings
       Vector<int> &laserReading = object_cast<Vector<int> >(getInput(laserID,count));
--- 506,509 ----
***************
*** 526,530 ****
        // Toggle logic to log the sample
       bool toLog = false;
!      static bool log = false; 
       Vector<int> &logValue = object_cast<Vector<int> >(getInput(logID,count));
       if (logValue[0] != log)
--- 511,515 ----
        // Toggle logic to log the sample
       bool toLog = false;
!      /*static bool log = false; 
       Vector<int> &logValue = object_cast<Vector<int> >(getInput(logID,count));
       if (logValue[0] != log)
***************
*** 532,536 ****
           toLog = true;
           log = logValue[0];
!      }
       
       //if (!paramsValue->isNil() && laserReading.size() != 0)
--- 517,521 ----
           toLog = true;
           log = logValue[0];
!      }*/
       
       //if (!paramsValue->isNil() && laserReading.size() != 0)
***************
*** 604,608 ****
               
               // Motor cmd debug
!              static std::ofstream cmdMotor("motorCmd.txt");
               static int logNb = 0;
               static int header=1;
--- 589,593 ----
               
               // Motor cmd debug
!              /*static std::ofstream cmdMotor("motorCmd.txt");
               static int logNb = 0;
               static int header=1;
***************
*** 614,618 ****
                   cmdMotor << "log" << logNb << "\t" << angularCorrection << "\t" << speedInd << "\t" << velocity << "\t" << rotation << std::endl;
                   ++logNb;
!              }
               
               // Send motor command
--- 599,603 ----
                   cmdMotor << "log" << logNb << "\t" << angularCorrection << "\t" << speedInd << "\t" << velocity << "\t" << rotation << std::endl;
                   ++logNb;
!              }*/
               
               // Send motor command

Index: AvoidPat.cc
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/Behaviors/src/AvoidPat.cc,v
retrieving revision 1.8
retrieving revision 1.9
diff -C2 -d -r1.8 -r1.9
*** AvoidPat.cc	4 Jul 2005 22:51:45 -0000	1.8
--- AvoidPat.cc	6 Jul 2005 01:12:57 -0000	1.9
***************
*** 300,303 ****
--- 300,305 ----
              std::cout << "Backward -> true" << std::endl;
              std::cout << "backward_iter -> " << backward_iter << std::endl;
+             std::cout << "backward_vel -> " << backward_vel << std::endl;
+             std::cout << "backward_rot -> " << backward_rot << std::endl;
          }
          else{