robocars/robocar-steering
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add debug trace

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This commit is contained in:
Cyrille Nofficial 2022-09-01 15:27:36 +02:00
parent a78bedd598
commit 9bbbfc30d4
1 changed files with 3 additions and 1 deletions
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4
pkg/steering/corrector.go
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@ -139,7 +139,7 @@ func (c *GridCorrector) AdjustFromObjectPosition(currentSteering float64, object
// get nearest object // get nearest object
nearest, err := c.nearObject(grpObjs) nearest, err := c.nearObject(grpObjs)
if err != nil { if err != nil {
zap.S().Warnf("unexpected error on nearest seach object, ignore objects: %v", err) zap.S().Warnf("unexpected error on nearest search object, ignore objects: %v", err)
return currentSteering return currentSteering
} }
@ -177,6 +177,7 @@ func (c *GridCorrector) computeDeviation(nearest *events.Object) float64 {
var delta float64 var delta float64
var err error var err error
zap.S().Debugf("search delta value for bottom limit: %v", nearest.Bottom)
if nearest.Left < 0 && nearest.Right < 0 { if nearest.Left < 0 && nearest.Right < 0 {
delta, err = c.gridMap.ValueOf(float64(nearest.Right)*2-1., float64(nearest.Bottom)) delta, err = c.gridMap.ValueOf(float64(nearest.Right)*2-1., float64(nearest.Bottom))
} }
@ -189,6 +190,7 @@ func (c *GridCorrector) computeDeviation(nearest *events.Object) float64 {
zap.S().Warnf("unable to compute delta to apply to steering, skip correction: %v", err) zap.S().Warnf("unable to compute delta to apply to steering, skip correction: %v", err)
delta = 0 delta = 0
} }
zap.S().Debugf("new deviation computed: %v", delta)
return delta return delta
} }