void Player::evoluciona(float fdelta)
{
double delta=fdelta;
point p=vector2point(pos);
point v=vector2point(speed);
point c=vector2point(camaleonPos);
if (not licked) {
p+=v*delta;
pos=point2vector(p);
return;
}
if (not tensioning) {
p+=v*delta;
pos=point2vector(p);
if (prodesc(v,p-c)>=0)
tensioning=true;
return;
}
p-=c;
double modulov=abs(v);
double desp=modulov*delta;
double r=abs(p);
double alfa=desp/r;
int signo=prodvec(p,v)>0?1:-1;
p*=std::polar(1.0,signo*alfa);
v=p*std::polar(1.0,signo*M_PI/2.0);
v=(modulov/abs(v))*v;
p+=c;
pos=point2vector(p);
speed=point2vector(v);
}
/* This function will find the peak of energy on the current layer (1st
argument). When found, the function will return (2nd to 4th. parameters),
the peak index, its real eta and real phi values (relative to the RoI lower
left corner). */
void peak_find(const CaloLayer* layer, int* idx, double* eta, double* phi)
{
/* This is a dummy algorithm */
int i; /* iterator */
Energy temp = 0.;
for (i=0; i<layer->NoOfCells; ++i) {
if (layer->cell[i].energy > temp) {
(*idx) = i;
temp = layer->cell[i].energy;
}
}
/* Now I have to translate the cell info */
vector2point(&layer->EtaGran, &layer->PhiGran, idx, eta, phi);
return;
}
static EControl vscanDetection()
{
if (_vscan.empty() == true || _closest_waypoint < 0)
return KEEP;
int decelerate_or_stop = -10000;
int decelerate2stop_waypoints = 15;
for (int i = _closest_waypoint; i < _closest_waypoint + _search_distance; i++) {
g_obstacle.clearStopPoints();
if (!g_obstacle.isDecided())
g_obstacle.clearDeceleratePoints();
decelerate_or_stop++;
if (decelerate_or_stop > decelerate2stop_waypoints ||
(decelerate_or_stop >= 0 && i >= _path_dk.getSize()-1) ||
(decelerate_or_stop >= 0 && i == _closest_waypoint+_search_distance-1))
return DECELERATE;
if (i > _path_dk.getSize() - 1 )
return KEEP;
// Detection for cross walk
if (i == vmap.getDetectionWaypoint()) {
if (CrossWalkDetection(vmap.getDetectionCrossWalkID()) == STOP) {
_obstacle_waypoint = i;
return STOP;
}
}
// waypoint seen by vehicle
geometry_msgs::Point waypoint = calcRelativeCoordinate(_path_dk.getWaypointPosition(i),
_current_pose.pose);
tf::Vector3 tf_waypoint = point2vector(waypoint);
tf_waypoint.setZ(0);
int stop_point_count = 0;
int decelerate_point_count = 0;
for (pcl::PointCloud<pcl::PointXYZ>::const_iterator item = _vscan.begin(); item != _vscan.end(); item++) {
tf::Vector3 vscan_vector((double) item->x, (double) item->y, 0);
// for simulation
if (g_sim_mode) {
tf::Transform transform;
tf::poseMsgToTF(_sim_ndt_pose.pose, transform);
geometry_msgs::Point world2vscan = vector2point(transform * vscan_vector);
vscan_vector = point2vector(calcRelativeCoordinate(world2vscan, _current_pose.pose));
vscan_vector.setZ(0);
}
// 2D distance between waypoint and vscan points(obstacle)
// ---STOP OBSTACLE DETECTION---
double dt = tf::tfDistance(vscan_vector, tf_waypoint);
if (dt < _detection_range) {
stop_point_count++;
geometry_msgs::Point vscan_temp;
vscan_temp.x = item->x;
vscan_temp.y = item->y;
vscan_temp.z = item->z;
if (g_sim_mode)
g_obstacle.setStopPoint(calcAbsoluteCoordinate(vscan_temp, _sim_ndt_pose.pose));
else
g_obstacle.setStopPoint(calcAbsoluteCoordinate(vscan_temp, _current_pose.pose));
}
if (stop_point_count > _threshold_points) {
_obstacle_waypoint = i;
return STOP;
}
// without deceleration range
if (_deceleration_range < 0.01)
continue;
// deceleration search runs "decelerate_search_distance" waypoints from closest
if (i > _closest_waypoint+_deceleration_search_distance || decelerate_or_stop >= 0)
continue;
// ---DECELERATE OBSTACLE DETECTION---
if (dt > _detection_range && dt < _detection_range + _deceleration_range) {
bool count_flag = true;
// search overlaps between DETECTION range and DECELERATION range
for (int waypoint_search = -5; waypoint_search <= 5; waypoint_search++) {
if (i+waypoint_search < 0 || i+waypoint_search >= _path_dk.getSize() || !waypoint_search)
continue;
geometry_msgs::Point temp_waypoint = calcRelativeCoordinate(
_path_dk.getWaypointPosition(i+waypoint_search),
_current_pose.pose);
tf::Vector3 waypoint_vector = point2vector(temp_waypoint);
waypoint_vector.setZ(0);
// if there is a overlap, give priority to DETECTION range
if (tf::tfDistance(vscan_vector, waypoint_vector) < _detection_range) {
count_flag = false;
break;
}
}
if (count_flag) {
decelerate_point_count++;
geometry_msgs::Point vscan_temp;
vscan_temp.x = item->x;
vscan_temp.y = item->y;
vscan_temp.z = item->z;
if (g_sim_mode)
g_obstacle.setDeceleratePoint(calcAbsoluteCoordinate(vscan_temp, _sim_ndt_pose.pose));
else
g_obstacle.setDeceleratePoint(calcAbsoluteCoordinate(vscan_temp, _current_pose.pose));
}
}
// found obstacle to DECELERATE
if (decelerate_point_count > _threshold_points) {
_obstacle_waypoint = i;
decelerate_or_stop = 0; // for searching near STOP obstacle
g_obstacle.setDecided(true);
}
}
}
return KEEP; //no obstacles
}
