modelec/detection_adversaire
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wlh ça marche. On arrête de spam

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This commit is contained in:
Allan Cueff
2024-05-09 02:16:42 +02:00
parent e6b1e61d85
commit fd72a0a850
1 changed files with 13 additions and 3 deletions
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16
src/localization.cpp
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@@ -305,6 +305,7 @@ void Localization::processPoints(sl_lidar_response_measurement_node_hq_t nodes[N
list<pair<double, double>> points_inside;
vector<pair<double, int>> nearestBeaconDetectedPointRelative(3, make_pair(-1, -1));
vector<bool> beaconsDetected(3, false);
pair<int,int> proximityValues = {-1, -1};
bool proximityAlert = false;
bool positionIncorrect = false;
for (int pos = 0; pos < count; ++pos) {
@@ -313,13 +314,19 @@ void Localization::processPoints(sl_lidar_response_measurement_node_hq_t nodes[N
//Select points inside map and next to beacons
pair<int, int> position = Localization::robotToCartesian(nodes[pos], this->x_robot, this->y_robot,this->alpha_robot);
if (Localization::isInsideMap(position)) {
///Checking for direct proximity
//Checking for direct proximity
if((double)nodes[pos].dist_mm_q2/4.0f < PROXIMITY_ALERT_RANGE) {
proximityAlert = true;
if (this->proximityLastRound) {
int angle_radians = Localization::rplidarToTrigoRadians(((double) nodes[pos].angle_z_q14 * 90.f) / 16384.f);
this->sendProximityAlert((int) ((double) nodes[pos].dist_mm_q2 / 4.0f), angle_radians);
if(proximityValues.first == -1 || proximityValues.first > (int) ((double) nodes[pos].dist_mm_q2 / 4.0f)){
proximityValues.first = (int) ((double) nodes[pos].dist_mm_q2 / 4.0f);
proximityValues.second = Localization::rplidarToTrigoRadians(((double) nodes[pos].angle_z_q14 * 90.f) / 16384.f);;
}
}
#ifdef LIDAR_LOG_DEBUG_MODE
long epoch = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
cout << "### localization.cpp:processPoints:329:T" << epoch << " >> detected proximity point - distance=" << proximityValues.first << " angle=" << proximityValues.second << endl;
#endif
}
points_inside.emplace_back(position);
} else {
@@ -334,6 +341,9 @@ void Localization::processPoints(sl_lidar_response_measurement_node_hq_t nodes[N
}
}
}
if(this->proximityLastRound && proximityAlert){
this->sendProximityAlert(proximityValues.first, proximityValues.second);
}
//Get agglomerates without solo points
vector<list<pair<double, double>>> agglomerated_points = Localization::getAgglomerates(points_inside);
//Get most probable agglomerate average position