robocars/robocar-steering
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

WIP

Browse Source
This commit is contained in:
Cyrille Nofficial 2022-08-23 13:53:59 +02:00
parent 86f91d9f88
commit a7babb862b
2 changed files with 9 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
pkg/steering/corrector.go
View File

@ -53,22 +53,17 @@ func (c *Corrector) AdjustFromObjectPosition(currentSteering float64, objects []
return currentSteering return currentSteering
} }
if currentSteering > 0.1 && currentSteering < 0.1 { if currentSteering > -0.1 && currentSteering < 0.1 {
if nearest.Bottom < 0.4 {
// object is far, so no need to fix steering now
return currentSteering
}
var delta float64 var delta float64
if nearest.Left < 0 && nearest.Right < 0 { if nearest.Left < 0 && nearest.Right < 0 {
delta, err = c.gridMap.ValueOf(currentSteering, float64(nearest.Right)) delta, err = c.gridMap.ValueOf(float64(nearest.Right)*2-1., float64(nearest.Bottom))
} }
if nearest.Left > 0 && nearest.Right > 0 { if nearest.Left > 0 && nearest.Right > 0 {
delta, err = c.gridMap.ValueOf(currentSteering, float64(nearest.Left)) delta, err = c.gridMap.ValueOf(float64(nearest.Left)*2-1., float64(nearest.Bottom))
} else { } else {
delta, err = c.gridMap.ValueOf(currentSteering, float64(nearest.Left)+(float64(nearest.Right)-float64(nearest.Left))/2.) delta, err = c.gridMap.ValueOf(float64(float64(nearest.Left)+(float64(nearest.Right)-float64(nearest.Left))/2.)*2.-1., float64(nearest.Bottom))
} }
if err != nil { if err != nil {
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)

8
pkg/steering/corrector_test.go
View File

@ -55,7 +55,7 @@ var (
} }
) )
func TestCorrector_FixFromObjectPosition(t *testing.T) { func TestCorrector_AdjustFromObjectPosition(t *testing.T) {
type args struct { type args struct {
currentSteering float64 currentSteering float64
objects []*events.Object objects []*events.Object
@ -120,7 +120,7 @@ func TestCorrector_FixFromObjectPosition(t *testing.T) {
currentSteering: 0., currentSteering: 0.,
objects: []*events.Object{&objectOnMiddleNear}, objects: []*events.Object{&objectOnMiddleNear},
}, },
want: 0.5, want: 1,
}, },
{ {
name: "run to left with 1 near object", name: "run to left with 1 near object",
@ -143,7 +143,9 @@ func TestCorrector_FixFromObjectPosition(t *testing.T) {
} }
for _, tt := range tests { for _, tt := range tests {
t.Run(tt.name, func(t *testing.T) { t.Run(tt.name, func(t *testing.T) {
c := &Corrector{} c := &Corrector{
gridMap: &defaultGridMap,
}
if got := c.AdjustFromObjectPosition(tt.args.currentSteering, tt.args.objects); got != tt.want { if got := c.AdjustFromObjectPosition(tt.args.currentSteering, tt.args.objects); got != tt.want {
t.Errorf("AdjustFromObjectPosition() = %v, want %v", got, tt.want) t.Errorf("AdjustFromObjectPosition() = %v, want %v", got, tt.want)
} }