src/test.cc

   1 #include <chrono>
   2 #include <iostream>
   3 #include <jsoncpp/json/json.h>
   4
   5 #include "psp.h"
   6
   7 std::chrono::high_resolution_clock::time_point TSTART_;
   8 std::chrono::high_resolution_clock::time_point TEND_;
   9 inline void TSTART() { TSTART_ = std::chrono::high_resolution_clock::now(); }
  10 inline void TEND() { TEND_ = std::chrono::high_resolution_clock::now(); }
  11 inline double TDIFF()
  12 {
  13         std::chrono::duration<double> DT_;
  14         DT_ = std::chrono::duration_cast<std::chrono::duration<double>>(
  15                 TEND_ - TSTART_
  16         );
  17         return DT_.count();
  18 }
  19 inline void TPRINT(const char *what)
  20 {
  21         std::cerr << what << ": " << TDIFF() << std::endl;
  22 }
  23
  24 PSPlanner psp;
  25 int main()
  26 {
  27         Json::Value jvi; // JSON input
  28         Json::Value jvo; // JSON output
  29         std::cin >> jvi;
  30         jvo = jvi;
  31
  32         psp.ps().border(
  33                 jvi["slot"][0][0][0].asDouble(),
  34                 jvi["slot"][0][0][1].asDouble(),
  35
  36                 jvi["slot"][0][1][0].asDouble(),
  37                 jvi["slot"][0][1][1].asDouble(),
  38
  39                 jvi["slot"][0][2][0].asDouble(),
  40                 jvi["slot"][0][2][1].asDouble(),
  41
  42                 jvi["slot"][0][3][0].asDouble(),
  43                 jvi["slot"][0][3][1].asDouble()
  44         );
  45
  46         psp.fe();
  47
  48         jvi["goal"][0] = psp.cc().x();
  49         jvi["goal"][1] = psp.cc().y();
  50         jvi["goal"][2] = psp.cc().h();
  51
  52         jvo["slot"] = jvi["slot"];
  53
  54         unsigned int i = 0;
  55         std::cerr << "last maneuver" << std::endl;
  56         jvo["last"][i][0] = psp.gc().x();
  57         jvo["last"][i][1] = psp.gc().y();
  58         jvo["last"][i][2] = psp.gc().h();
  59         i++;
  60         for (auto p: psp.last_maneuver()) {
  61                 jvo["last"][i][0] = p.x();
  62                 jvo["last"][i][1] = p.y();
  63                 jvo["last"][i][2] = p.h();
  64                 i++;
  65         }
  66         std::cerr << "... done" << std::endl;
  67         std::cout << jvo << std::endl;
  68         return 0;
  69 }