void Node::showFile()
{
FILE *fp;
fp = fopen("saida.txt", "a");
for (int i = 0; i < 3; ++i)
{
for (unsigned h = 0; h < height; ++h)
{
fprintf(fp,"\t");
}
for (int j = 0; j < 3; ++j)
{
fprintf(fp,"%d ", tile[i*3+j]);
}
fprintf(fp," %u+%u=%u \n",distanceToGoal(), height, cost);
}
fprintf(fp,"\n");
fclose(fp);
}
/*!
* @brief Updates the spherical position, angular location and transformed spherical position.
*
* This method uses the camera transform and as such if it was not valid when retrieved from the wrapper
* this will leave m_transformed_spherical_position at all zeros.
*/
bool Goal::calculatePositions()
{
const Transformer& tran = VisionBlackboard::getInstance()->getTransformer();
//To the bottom of the Goal Post.
tran.screenToRadial2D(m_location);
double dist = distanceToGoal(m_location.angular.x, m_location.angular.y);
tran.screenToRadial3D(m_location, dist);
//m_spherical_error - not calculated
#if VISION_GOAL_VERBOSITY > 2
debug << "Goal::calculatePositions: ";
debug << d2p << " " << width_dist << " " << m_location.relativeRadial.x << endl;
#endif
return distance_valid && dist > 0;
}
