47 lines
994 B
Go
47 lines
994 B
Go
package steering
|
|
|
|
import (
|
|
"fmt"
|
|
"github.com/cyrilix/robocar-protobuf/go/events"
|
|
"go.uber.org/zap"
|
|
)
|
|
|
|
type Corrector struct {
|
|
}
|
|
|
|
func (c *Corrector) FixFromObjectPosition(currentSteering float64, objects []*events.Object) float64 {
|
|
// TODO, group rectangle
|
|
|
|
if len(objects) == 0 {
|
|
return currentSteering
|
|
}
|
|
// get nearest object
|
|
nearest, err := c.nearObject(objects)
|
|
if err != nil {
|
|
zap.S().Warnf("unexpected error on nearest seach object, ignore objects: %v", err)
|
|
return currentSteering
|
|
}
|
|
|
|
// Search if current steering is near of Right or Left
|
|
|
|
return currentSteering
|
|
}
|
|
|
|
func (c *Corrector) nearObject(objects []*events.Object) (*events.Object, error) {
|
|
if len(objects) == 0 {
|
|
return nil, fmt.Errorf("list objects must contain at least one object")
|
|
}
|
|
if len(objects) == 1 {
|
|
return objects[0], nil
|
|
}
|
|
|
|
var result *events.Object
|
|
for _, obj := range objects {
|
|
if result == nil || obj.Bottom > result.Bottom {
|
|
result = obj
|
|
continue
|
|
}
|
|
}
|
|
return result, nil
|
|
}
|