[Robotflow-cvs] RobotFlow/Behaviors/src EllipticalAvoid.cc,1.2,1.3

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

Update of /cvsroot/robotflow/RobotFlow/Behaviors/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv7443/Behaviors/src

Modified Files:
	EllipticalAvoid.cc 
Log Message:
Elimination of the oscillation when detecting obstacle at front

Index: EllipticalAvoid.cc
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/Behaviors/src/EllipticalAvoid.cc,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** EllipticalAvoid.cc	13 Dec 2005 14:47:17 -0000	1.2
--- EllipticalAvoid.cc	20 Dec 2005 21:24:22 -0000	1.3
***************
*** 182,186 ****
                                 m_reverseVel,
                                 m_rotVelSecurityMargin,
!                                m_rotVel);
       }
       catch (AvoidUtilInvalidConstructorArguments)
--- 182,187 ----
                                 m_reverseVel,
                                 m_rotVelSecurityMargin,
!                                m_rotVel,
!                                m_nbAvoidance);
       }
       catch (AvoidUtilInvalidConstructorArguments)
***************
*** 196,203 ****
     
     void calculate_behavior(int output_id, int count, Buffer &out) {
-       //std::cout << "EllipticalAvoid : output_id -> " << output_id << std::endl;
-      //std::cout << "EllipticalAvoid -> getInput1" << std::endl;
       ObjectRef rangeValueRef = getInput(rangeID,count);
-      //std::cout << "EllipticalAvoid -> getInput2s" << std::endl;
       ObjectRef velInRef = getInput(velocityInID,count);
       
--- 197,201 ----
***************
*** 208,212 ****
       static double lastMargin = -1;
       
-      //std::cout << "range, vel -> " << rangeValueRef->isNil() << "," << velInRef->isNil() << std::endl;
       if((!rangeValueRef->isNil()) && (!velInRef->isNil())){
          // Cast the range belt
--- 206,209 ----
***************
*** 258,269 ****
             }
          }
!         /*
!         std::cout << "avoid -> " << avoid << std::endl;
!         std::cout << "avoidActivated -> " << avoidActivated << std::endl;
!         std::cout << "memory -> " << memory << std::endl;
!         std::cout << "velIn -> " << velIn << std::endl;
!         std::cout << "Pos -> " << pos << std::endl;
!         std::cout << "Margin -> " << margin << std::endl;
!         */
          if(avoid)
          {
--- 255,259 ----
             }
          }
!         
          if(avoid)
          {
***************
*** 279,283 ****
             (*outputs[velocityOutID].buffer)[count] = ObjectRef(Int::alloc(velOut));
             (*outputs[rotationID].buffer)[count] = ObjectRef(Int::alloc(rotOut));
-            std::cout << "velOut -> " << velOut << std::endl;
          }
          else
--- 269,272 ----
***************
*** 286,290 ****
             (*outputs[velocityOutID].buffer)[count] = nilObject;
             (*outputs[rotationID].buffer)[count] = nilObject;
-            std::cout << "velOut -> nilObject" << std::endl;
          }
       }
--- 275,278 ----
***************
*** 292,296 ****
          (*outputs[velocityOutID].buffer)[count] = nilObject;
          (*outputs[rotationID].buffer)[count] = nilObject;
-         std::cout << "inputs -> nilObject" << std::endl;
       }
     }//calculate_behavior
--- 280,283 ----