void ControlReplannerJulian::compute(void)
{
if(leftObstacle && !rightObstacle) //turn right
newPoint=getRightPoint();
else if (rightObstacle && !leftObstacle) //turn left
newPoint=getLeftPoint();
else if (!rightObstacle && !leftObstacle)//choose the best option left/right
{
if(minLeftRange<minRightRange)//turn right
newPoint=getRightPoint();
else
newPoint=getLeftPoint();
}
else
LOG_ERROR("ERROR: Robot stucked! ");
}
void GLWidget::mousePressEvent(QMouseEvent *event)
{
if (event->buttons() & Qt::LeftButton ) {
QPointF clickedPoint = transformPosition(event->pos());
if (getFirstPoint) {
getFirstPoint = false;
lastPoint = clickedPoint;
} else {
getFirstPoint = true;
std::shared_ptr<IsoSegment> isoSeg;
if (isHorizontalSegment(lastPoint, clickedPoint)) {
// Horizontal: Gleiche Y-Position an
clickedPoint.ry() = lastPoint.ry();
QPointF leftPoint = getLeftPoint(clickedPoint, lastPoint);
QPointF rightPoint = getRightPoint(clickedPoint, lastPoint);
// ISO-Segment auf dem Heap-Speicher erstellen
isoSeg = std::make_shared<IsoSegment>(leftPoint, rightPoint);
// Start- und End-Event in Vector einfügen
events.push_back(Event(leftPoint.rx (), START_EVENT, isoSeg));
events.push_back(Event(rightPoint.rx(), END_EVENT , isoSeg));
} else {
// Vertikal: Gleiche X-Position an
clickedPoint.rx() = lastPoint.rx();
// ISO-Segment auf dem Heap-Speicher erstellen
isoSeg = std::make_shared<IsoSegment>(lastPoint, clickedPoint);
events.push_back(Event(clickedPoint.rx(), VERTICAL, isoSeg));
}
segments.push_back(isoSeg);
}
points.push_back(clickedPoint);
}
update();
}
