JSON output by `json()` of `rrts`

[hubacji1/iamcar2.git] / src / test7.cc

diff --git a/src/test7.cc b/src/test7.cc
index 158ee20de895c33be41bf6ff9b9335c3c6da37ce..62a0d675717221dab6eabae07373f0d32954790f 100644 (file)
--- a/src/test7.cc
+++ b/src/test7.cc
@@ -122,6 +122,8 @@ int main()
                         }
                 }
         }
+        std::cerr << "finished 0, cost is " << final_path_cost << std::endl;
+        std::cout << rrts.json() << std::endl;
 for (int i = 1; i < 5; i++) {
         init_node.next();
         RRTS rrts2;
@@ -164,77 +166,9 @@ for (int i = 1; i < 5; i++) {
                         }
                 }
         }
+        std::cerr << "finished " << i << ", cost is " << final_path_cost;
+        std::cerr << std::endl;
+        std::cout << rrts2.json() << std::endl;
 }
-
-        {
-                jvo["time"] = TDIFF();
-        }
-        {
-                jvo["iterations"] = rrts.icnt();
-        }
-        {
-                jvo["init"][0] = rrts.nodes().front().x();
-                jvo["init"][1] = rrts.nodes().front().y();
-                jvo["init"][2] = rrts.nodes().front().h();
-        }
-        {
-                jvo["cost"] = final_path_cost;
-        }
-        {
-                if (final_path.size() > 0) {
-                        jvo["goal"][0] = final_path.back().x();
-                        jvo["goal"][1] = final_path.back().y();
-                        jvo["goal"][2] = final_path.back().h();
-                }
-                unsigned int cu = 0;
-                unsigned int co = 0;
-                unsigned int pcnt = 0;
-                for (auto n: final_path) {
-                        jvo["path"][pcnt][0] = n.x();
-                        jvo["path"][pcnt][1] = n.y();
-                        jvo["path"][pcnt][2] = n.h();
-                        if (n.t(RRTNodeType::cusp))
-                                cu++;
-                        if (n.t(RRTNodeType::connected))
-                                co++;
-                        pcnt++;
-                }
-                jvo["cusps-in-path"] = cu;
-                jvo["connecteds-in-path"] = co;
-        }
-        {
-                unsigned int gcnt = 0;
-                for (auto g: rrts.goals()) {
-                        jvo["goals"][gcnt][0] = g.x();
-                        jvo["goals"][gcnt][1] = g.y();
-                        jvo["goals"][gcnt][2] = g.h();
-                        gcnt++;
-                }
-        }
-        {
-                unsigned int ocnt = 0;
-                for (auto o: rrts.obstacles()) {
-                        unsigned int ccnt = 0;
-                        for (auto c: o.poly()) {
-                                jvo["obst"][ocnt][ccnt][0] = std::get<0>(c);
-                                jvo["obst"][ocnt][ccnt][1] = std::get<1>(c);
-                                ccnt++;
-                        }
-                        ocnt++;
-                }
-        }
-        {
-                jvo["nodes"] = (unsigned int) rrts.nodes().size();
-        }
-        //{
-        //        unsigned int ncnt = 0;
-        //        for (auto n: rrts.nodes()) {
-        //                jvo["nodes_x"][ncnt] = n.x();
-        //                jvo["nodes_y"][ncnt] = n.y();
-        //                //jvo["nodes_h"][ncnt] = n.h();
-        //                ncnt++;
-        //        }
-        //}
-        std::cout << jvo << std::endl;
         return 0;
 }