pathplan: Changed approach to problem solving non-holomic problem, removed redundant...

[eurobot/public.git] / src / pathplan / test / testpathplan.c

diff --git a/src/pathplan/test/testpathplan.c b/src/pathplan/test/testpathplan.c
index e24fea7a84372c9d69f1ba87217738174b0e18a5..2b94aae41f5d6daaabd782c20159850e322d9be7 100644 (file)
--- a/src/pathplan/test/testpathplan.c
+++ b/src/pathplan/test/testpathplan.c
@@ -12,7 +12,7 @@
 #define USEC2SEC(T)    (MSEC2SEC(T/1000.0))
 #define PERCENT(X,N)   (((double) X/ (double) N )* 100.0)
 
-#define TEST_COUNT 50000
+#define TEST_COUNT 5
 
 #define HIST_COUNT (4*6+2)
 #define HIST_MIN 0.000001
@@ -21,7 +21,7 @@
 unsigned histogram[HIST_COUNT];
 
 #define OBST_COUNT 4
-#define POINT
+//#define POINT
 
 void randomize_obstacles(bool first)
 {
@@ -107,9 +107,9 @@ int main(int argc, char *argv[])
                
                gettimeofday(&tv_start, NULL);
 #ifdef POINT
-               val = path_planner(startx, starty, goalx, goaly , &path, &angle, ASTAR_METHOD_POINT);
+               val = path_planner(startx, starty, goalx, goaly , &path, &angle, &angle,ASTAR_METHOD_POINT);
 #else
-               val = path_planner(startx, starty, goalx, goaly , &path, &angle, ASTAR_METHOD_SHAPE);
+               val = path_planner(startx, starty, goalx, goaly , &path, &angle, &angle,ASTAR_METHOD_SHAPE);
 #endif
                gettimeofday(&tv_finish, NULL);
                t = (double)(tv_finish.tv_usec - tv_start.tv_usec) / 1000000.0;