[Robotflow-cvs] RobotFlow/Behaviors/include AvoidUtil.h,1.2,1.3

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

Update of /cvsroot/robotflow/RobotFlow/Behaviors/include
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv7128/Behaviors/include

Modified Files:
	AvoidUtil.h 
Log Message:
Elimination of the oscillation when detecting obstacle at front

Index: AvoidUtil.h
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/Behaviors/include/AvoidUtil.h,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** AvoidUtil.h	13 Dec 2005 15:12:56 -0000	1.2
--- AvoidUtil.h	20 Dec 2005 21:22:42 -0000	1.3
***************
*** 42,46 ****
                  int reverseVel,
                  double rotVelSecurityMargin,
!                 int rotVel);
        ~AvoidUtil();
        unsigned int evalLongAvoidingThres(int velocity) const;
--- 42,47 ----
                  int reverseVel,
                  double rotVelSecurityMargin,
!                 int rotVel,
!                 unsigned int nbOscillation);
        ~AvoidUtil();
        unsigned int evalLongAvoidingThres(int velocity) const;
***************
*** 53,60 ****
        bool isAvoidanceNeeded(std::vector<int> rangeBelt, int velocity, unsigned int &pos, double &margin);
        int evalRotationalDirection(int velocity, unsigned int position);
-       //unsigned int evalEllipticalDirectionChangeThres(unsigned int theta) const;
-      // bool createEllipticalDirectionChangeThresBelt(unsigned int beltSize);
-       //const std::vector<unsigned int>& getEllipticalDirectionChangeThresBelt();
-       //bool isDirectionChangeNeeded(unsigned int position, unsigned int rangeValue);
        int evalAvoidingLinVel(int velocity, double margin);
        int evalAvoidingRotVel(int velocity, unsigned int pos, double margin);
--- 54,57 ----
***************
*** 74,79 ****
--- 71,80 ----
        double m_rotVelSecurityMargin;
        int m_rotVel; 
+       unsigned int m_nbOscillation;
        
        // Variables
+       unsigned int m_lastPos;
+       int m_lastSign;
+       unsigned int m_CurrentOscillation;
        double m_slope;
        double m_velSlope;