Add method to set dimensions of more cars

[hubacji1/iamcar2.git] / src / test1.cc

diff --git a/src/test1.cc b/src/test1.cc
index 9ad06170fc1690e8a60075e049285450df85b0b3..aa713eecd061db5c6f77e1b7184007f66aefefa4 100644 (file)
--- a/src/test1.cc
+++ b/src/test1.cc
@@ -1,6 +1,6 @@
 #include <chrono>
 #include <iostream>
-#include <jsoncpp/json/json.h>
+#include <json/json.h>
 
 #include "psp.h"
 
@@ -25,15 +25,15 @@ int main()
 {
         Json::Value jvo; // JSON output
 
-        double offset = -1.276994;
+        double offset = -1.256994;
         double delta = 0.1;
-        std::cerr << "# dist    fe cusps    fe time    fer cusps    fer time";
+        std::cerr << "#dist,fe cusps,fe time,fer cusps,fer time";
         std::cerr << std::endl;
         for (int i = 0; i < 14; i++) {
                 jvo["goals"] = Json::nullValue;
                 // setup
                 PSPlanner psp;
-                double ppsl = 0.02 + psp.cc().perfect_parking_slot_len();
+                double ppsl = 0.01 + psp.cc().perfect_parking_slot_len();
                 double psl = ppsl + offset + i * delta;
                 psp.ps().border(
                         0, 0,
@@ -45,10 +45,10 @@ int main()
                 TSTART();
                 psp.fe(); // or fer()
                 TEND();
-                std::cerr << (psl - psp.cc().l());
-                std::cerr << "    ";
+                std::cerr << (psl - psp.cc().l() - 0.01);
+                std::cerr << ",";
                 std::cerr << psp.c();
-                std::cerr << "    ";
+                std::cerr << ",";
                 std::cerr << TDIFF();
                 // json output
                 jvo["time"] = TDIFF();
@@ -75,13 +75,19 @@ int main()
                 jvo["slot"][0][3][1] = psp.ps().y4();
                 jvo["cusp"] = psp.c();
                 std::cout << jvo << std::endl;
+                psp.ps().border(
+                        0, 0,
+                        2.2, 0,
+                        2.2, 0 + psl,
+                        0, 0 + psl
+                );
                 // run fer planner
                 TSTART();
                 psp.fer(); // or fer()
                 TEND();
-                std::cerr << "    ";
+                std::cerr << ",";
                 std::cerr << psp.c();
-                std::cerr << "    ";
+                std::cerr << ",";
                 std::cerr << TDIFF();
                 std::cerr << std::endl;
                 // json output