merge

diff --cc projects/microb2010/tests/tourel_beacon/graph.py
index 4d71030,af8edf8..fa87953
--- 1/projects/microb2010/tests/tourel_beacon/graph.py
--- 2/projects/microb2010/tests/tourel_beacon/graph.py
+++ b/projects/microb2010/tests/tourel_beacon/graph.py
@@@ -267,9 -257,9 +267,9 @@@ def do_random_test()
          print "---- random %d"%i
          x = random.randint(0, 3000)
          y = random.randint(0, 2100)
 -        a = random.random()*2*math.pi
 +        a = random.random()*2*math.pi - math.pi
-         graph("test%d.png"%i, x, y, a)
-         graph_da("test_da%d.png"%i, x, y, a)
+         graph("angle/test%d.png"%i, x, y, a)
+         graph_da("da/test_da%d.png"%i, x, y, a)
  
  def do_graph_2d(data, filename, title):
      # Make plot with vertical (default) colorbar
@@@ -320,27 -310,18 +320,27 @@@ def do_graph_2d_simple_error()
              else:
                  title  = 'Erreur de position en mm, pour une erreur\n'
                  title += 'de mesure de %s deg sur les 3 balises'%(j)
-             do_graph_2d(data, "error_a%d_%s.png"%(i,j), title)
+             do_graph_2d(data, "simple_error/error_a%d_%s.png"%(i,j), title)
  
  def do_graph_2d_ad_error():
 -    for d in ["0.0", "0.1", "0.5"]:
 -        for a in ["0.0", "0.1", "0.5"]:
 +    for d in ["0.0", "0.1", "0.5", "1.0"]:
 +        for a in ["0.0", "0.1", "0.5", "1.0"]:
              for i in ["0", "1", "2"]:
                  print "do_graph_2d_ad_error %s %s %s"%(i, d, a)
 -                data = get_data("./main da_error %s %s %s"%(i, d, a))
 +                data = get_data("./main da_error %s %s -%s"%(i, d, a))
                  title  = 'Erreur de position en mm, pour une erreur\n'
                  title += "d'angle de %s deg et dist de %s %% (algo %s)"%(a, d, i)
-                 do_graph_2d(data, "error_da_%s_%s_%s.png"%(i, d, a), title)
+                 do_graph_2d(data, "da_error/error_da_%s_%s_%s.png"%(i, d, a), title)
  
-             do_graph_2d(data, "error_da_%smm_%s.png"%(d, a), title)
 +def do_graph_2d_ad_error_mm():
 +    for d in ["5", "10", "20"]:
 +        for a in ["0.0", "0.1", "0.5", "1.0"]:
 +            print "do_graph_2d_ad_error_mm 0 %s %s"%(d, a)
 +            data = get_data("./main da_error_mm 0 %s -%s"%(d, a))
 +            title  = 'Erreur de position en mm, pour une erreur\n'
 +            title += "d'angle de %s deg et dist de %s mm"%(a, d)
++            do_graph_2d(data, "da_error_mm/error_da_%smm_%s.png"%(d, a), title)
 +
  def do_graph_2d_move_error():
      i = 0
      for period in [ 20, 40 ]: