From: Jiri Vlasak <jiri.vlasak.2@cvut.cz>
Date: Mon, 28 Mar 2022 11:21:37 +0000 (+0200)
Subject: Change range for osp
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/bcar.git/commitdiff_plain/8fde563a6cbde09734be492a197a373b429a61f9

Change range for osp
---

diff --git a/src/gen_for_gnuplot.cc b/src/gen_for_gnuplot.cc
index ccc1cb7..f77d476 100644
--- a/src/gen_for_gnuplot.cc
+++ b/src/gen_for_gnuplot.cc
@@ -16,6 +16,7 @@
 #define INIT_V vector<M> V;
 #define P(W) V.push_back(M(#W)); V.back().o.W = true;
 #define LC V.back().c
+#define A {}// P(CAR_POINT) LC = c;
 
 class M {
 public:
@@ -69,7 +70,7 @@ public:
 		swap(*this, m);
 	}
 };
-unsigned int M::cntr = 0;
+unsigned int M::cntr = 10;
 
 void
 gpl_slot(bcar::ParkingSlot& s, std::string fn = "")
@@ -116,6 +117,7 @@ main(int argc, char **argv)
 	using namespace std;
 	if (argc != 2) {
 		cerr << "Specify `what_plot` number." << endl;
+		// what_plot values 50 - 72 correspond to OSP
 		exit(1);
 	}
 	cout << fixed;
@@ -130,90 +132,94 @@ main(int argc, char **argv)
 
 	int what_plot = atoi(argv[1]);
 
+	INIT_V
+
 	// this is ep
 	int len = s._ispaths.size();
 	auto c = s._ispaths[len / 2].front();
 
-	if (what_plot > 2) {
+	A
+
+	if (what_plot > 52) {
 		c.set_max_steer();
 		c.sp(0.1);
 		for (int i = 0; i < 5; i++) {
 			c.next();
 		}
-	}
+	}A
 
-	if (what_plot > 4) { // can go anywhere forward
+	if (what_plot > 54) { // can go anywhere forward
 		c.set_max_steer();
 		c.sp(0.1);
 		while (!s.lf().inside_of(c.ccr(), c.iradi())) {
 			c.next();
 		}
-	}
+	}A
 
-	if (what_plot > 5) {
+	if (what_plot > 55) {
 		c.st(0.0);
 		for (int i = 0; i < 10; i++) {
 			c.next();
 		}
-	}
+	}A
 
-	if (what_plot > 6) {
+	if (what_plot > 56) {
 		c.st(0.0);
 		for (int i = 0; i < 10; i++) {
 			c.next();
 		}
-	}
+	}A
 
-	if (what_plot > 7) {
+	if (what_plot > 57) {
 		c.st(0.0);
 		for (int i = 0; i < 10; i++) {
 			c.next();
 		}
-	}
+	}A
 
-	if (what_plot > 8) { // few steps towards -- most up
+	if (what_plot > 58) { // few steps towards -- most up
 		c.st(0.0);
 		for (int i = 0; i < 10; i++) {
 			c.next();
 		}
-	}
+	}A
 
-	if (what_plot > 10) {
+	if (what_plot > 60) {
 		c.set_max_steer();
 		c.sp(-0.1);
 		for (int i = 0; i < 10; i++) {
 			c.next();
 		}
-	}
+	}A
 
-	if (what_plot > 11) {
+	if (what_plot > 61) {
 		c.set_max_steer();
 		c.sp(-0.1);
 		for (int i = 0; i < 10; i++) {
 			c.next();
 		}
-	}
+	}A
 
-	if (what_plot > 12) { // parallel to ps
+	if (what_plot > 62) { // parallel to ps
 		c.set_max_steer();
 		c.sp(-0.1);
 		for (int i = 0; i < 10; i++) {
 			c.next();
 		}
-	}
+	}A
 
-	if (what_plot > 16) { // what_plot should be up to 22 (init)
-		int how_much = what_plot - 16;
+	if (what_plot > 66) { // what_plot should be up to 22 (init)
+		int how_much = what_plot - 16 - 50;
 		c.st(0.0);
 		c.sp(-0.1);
 		for (int i = 0; i < 20 * how_much; i++) {
 			c.next();
 		}
-	}
+	}A
 
-	INIT_V
 	P(CAR)
 	LC = c;
+
 	for (auto& m: V) {
 		m.gpl();
 	}