From: Jiri Vlasak <jiri.vlasak.2@cvut.cz>
Date: Thu, 31 Mar 2022 10:19:21 +0000 (+0200)
Subject: Add alternative paths
X-Git-Url: http://rtime.felk.cvut.cz/gitweb/hubacji1/bcar.git/commitdiff_plain/f20c976b04e3fb888c87e8dd1c08a0386d190085

Add alternative paths
---

diff --git a/src/gen_for_gnuplot.cc b/src/gen_for_gnuplot.cc
index f77d476..861a0da 100644
--- a/src/gen_for_gnuplot.cc
+++ b/src/gen_for_gnuplot.cc
@@ -156,6 +156,7 @@ main(int argc, char **argv)
 		}
 	}A
 
+#if 1 /* path1 */
 	if (what_plot > 55) {
 		c.st(0.0);
 		for (int i = 0; i < 10; i++) {
@@ -216,6 +217,170 @@ main(int argc, char **argv)
 			c.next();
 		}
 	}A
+#endif
+#if 0 /* path2 */
+	if (what_plot > 58) {
+		c.set_max_steer();
+		c.st(c.st() * -1.0);
+		c.sp(0.1);
+		for (int i = 0; i < 10; i++) {
+			c.next();
+		}
+	}A
+
+	if (what_plot > 62) {
+		c.set_max_steer();
+		c.st(c.st() * -1.0);
+		c.sp(0.1);
+		for (int i = 0; i < 10; i++) {
+			c.next();
+		}
+	}A
+
+	if (what_plot > 66) {
+		c.set_max_steer();
+		c.st(c.st() * -1.0);
+		c.sp(0.1);
+		for (int i = 0; i < 10; i++) {
+			c.next();
+		}
+	}A
+
+	if (what_plot > 70) {
+		c.st(0.0);
+		c.sp(-0.1);
+		for (int i = 0; i < 20; i++) {
+			c.next();
+		}
+	}A
+
+	if (what_plot > 72) {
+		c.st(0.0);
+		c.sp(-0.1);
+		for (int i = 0; i < 20; i++) {
+			c.next();
+		}
+	}A
+
+	if (what_plot > 74) {
+		c.set_max_steer();
+		c.sp(-0.1);
+		for (int i = 0; i < 10; i++) {
+			c.next();
+		}
+	}A
+
+	if (what_plot > 76) {
+		c.st(0.0);
+		c.sp(-0.1);
+		for (int i = 0; i < 20; i++) {
+			c.next();
+		}
+	}A
+
+	if (what_plot > 78) {
+		c.set_max_steer();
+		c.st(c.st() * -1.0);
+		c.sp(-0.1);
+		for (int i = 0; i < 10; i++) {
+			c.next();
+		}
+	}A
+
+	if (what_plot > 80) { // up to 83 (init)
+		int how_much = what_plot - 80;
+		c.st(0.0);
+		c.sp(-0.1);
+		for (int i = 0; i < 20 * how_much; i++) {
+			c.next();
+		}
+	}A
+#endif
+#if 0 /* path3 */
+	if (what_plot > 56) {
+		c.st(0.0);
+		c.sp(0.1);
+		for (int i = 0; i < 10; i++) {
+			c.next();
+		}
+	}A
+
+	if (what_plot > 58) {
+		c.set_max_steer();
+		c.st(c.st() * -1.0);
+		c.sp(0.1);
+		for (int i = 0; i < 10; i++) {
+			c.next();
+		}
+	}A
+
+	if (what_plot > 62) {
+		c.set_max_steer();
+		c.st(c.st() * -1.0);
+		c.sp(0.1);
+		for (int i = 0; i < 10; i++) {
+			c.next();
+		}
+	}A
+
+	if (what_plot > 66) {
+		c.set_max_steer();
+		c.sp(-0.1);
+		for (int i = 0; i < 5; i++) {
+			c.next();
+		}
+	}A
+
+	if (what_plot > 68) {
+		c.set_max_steer();
+		c.sp(-0.1);
+		for (int i = 0; i < 10; i++) {
+			c.next();
+		}
+	}A
+
+	if (what_plot > 70) {
+		c.st(0.0);
+		c.sp(-0.1);
+		for (int i = 0; i < 20; i++) {
+			c.next();
+		}
+	}A
+
+	if (what_plot > 72) {
+		c.st(0.0);
+		c.sp(-0.1);
+		for (int i = 0; i < 20; i++) {
+			c.next();
+		}
+	}A
+
+	if (what_plot > 73) {
+		c.st(0.0);
+		c.sp(-0.1);
+		for (int i = 0; i < 20; i++) {
+			c.next();
+		}
+	}A
+
+	if (what_plot > 74) {
+		c.set_max_steer();
+		c.st(c.st() * -1.0);
+		c.sp(-0.1);
+		for (int i = 0; i < 5; i++) {
+			c.next();
+		}
+	}A
+
+	if (what_plot > 80) { // up to 83 (init)
+		int how_much = what_plot - 80;
+		c.st(0.0);
+		c.sp(-0.1);
+		for (int i = 0; i < 20 * how_much; i++) {
+			c.next();
+		}
+	}A
+#endif
 
 	P(CAR)
 	LC = c;