robotflow-cvs

[clement r. <kl...@us...>]

Update of /cvsroot/robotflow/RobotFlow/Behaviors/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv31823/src

Modified Files:
	AvoidUtil.cc 
Log Message:
modify behavior when going backward. 
We need to avoid if an obstacle is in the reverse security margin even if we are going backward. 


Index: AvoidUtil.cc
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/Behaviors/src/AvoidUtil.cc,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** AvoidUtil.cc	20 Dec 2005 21:22:42 -0000	1.3
--- AvoidUtil.cc	18 Jan 2006 23:20:22 -0000	1.4
***************
*** 260,264 ****
     else
     {
!       // If position == 9 (straight forward)
        if(position == 9)
        {
--- 260,264 ----
     else
     {
!       // If position == 9 (straight backward)
        if(position == 9)
        {
***************
*** 383,387 ****
        else
        {
!          return false;
        }
     }
--- 383,398 ----
        else
        {
!          // if we are going backward because we are too near from an obstacle
!          findSmallestProximityMarginAndPosition(1, 4, minMargin1, minMarginPos1);
!          if (minMargin1 <= m_reverseVelSecurityMargin)
!          {
!             pos = minMarginPos1;
!             margin = minMargin1;
!             return true;
!          }
!          else
!          {
!             return false;
!          }
        }
     }
***************
*** 404,411 ****
        //Reverse velocity
        vel = static_cast<int>(m_reverseSlope * margin + m_reverseB);
-       if(velocity<0)
-       {
-          vel *= -1;
-       }
     }
     else if(margin <= m_zeroVelSecurityMargin)
--- 415,418 ----
***************
*** 418,425 ****
        // Evaluate linear approximation variable
        vel = static_cast<int>(m_velSlope * margin + m_velB);
-       if(velocity<0)
-       {
-          vel *= -1;
-       }
     }
     return vel;
--- 425,428 ----
***************
*** 434,438 ****
     }
     
!    // Evaluation de rotational velocity according to the margin
     int rot=0;
     
--- 437,441 ----
     }
     
!    // Evaluation of rotational velocity according to the margin
     int rot=0;