From: Jiri Vlasak <jiri.vlasak.2@cvut.cz>
Date: Sat, 20 Nov 2021 00:32:55 +0000 (+0100)
Subject: Change compare isp to compare with vorobieva
X-Git-Tag: v0.8.0~13^2~1
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/bcar.git/commitdiff_plain/da50c06daf17cf4dfdc7635f9d2fad08d8901eb3

Change compare isp to compare with vorobieva
---

diff --git a/src/compare_isp.cc b/src/compare_isp.cc
index bad7360..f33bb84 100644
--- a/src/compare_isp.cc
+++ b/src/compare_isp.cc
@@ -13,15 +13,15 @@
 #include <vector>
 #include "pslot.hh"
 
-#define CAR_CURB_TO_CURB 10.820
-#define CAR_WIDTH 1.625
-#define CAR_WHEELBASE 2.450
-#define CAR_DISTANCE_FROM_REAR_AXLE_TO_FRONT 3.105
-#define CAR_LENGTH 3.760
+#define CAR_CURB_TO_CURB 11.031078891255458
+#define CAR_WIDTH 1.771
+#define CAR_WHEELBASE 2.588
+#define CAR_DISTANCE_FROM_REAR_AXLE_TO_FRONT 3.427
+#define CAR_LENGTH 4.084
 
-#define SLOT_MAX_WIDTH 2.2
+#define SLOT_WIDTH 2.0
+#define SLOT_MAX_LENGTH 5.8
 #define SLOT_STEP_LENGTH 0.01
-#define SLOT_STEP_WIDTH 0.01
 
 #define PARKING_SPEED -0.001
 #define MAX_CUSP 10
@@ -43,9 +43,9 @@ int main()
 	double zh = 0.0;
 	double len = c.len() + SLOT_STEP_LENGTH;
 
-	while (true) {
+	while (len < SLOT_MAX_LENGTH) {
 		int cusp[2] = {-1, -1};
-		bcar::ParkingSlot s(zp, zh, SLOT_MAX_WIDTH, len);
+		bcar::ParkingSlot s(zp, zh, SLOT_WIDTH, len);
 		// Several reversed trials
 		c.sp(PARKING_SPEED * -1.0);
 		c.set_max_steer();
@@ -73,10 +73,8 @@ int main()
 			cusp[1] = s.get_max_cusp();
 		}
 		using namespace std;
-		cout << len << " " << cusp[0] << " " << cusp[1] << endl;
-		if (cusp[0] == 0 && cusp[1] == 0) {
-			break;
-		}
+		cout << SLOT_WIDTH << " " << len << " ";
+		cout << cusp[0] << " " << cusp[1] << endl;
 		len += SLOT_STEP_LENGTH;
 	}
 	return 0;