tourel beacon

diff --git a/projects/microb2010/tests/tourel_beacon/graph.py b/projects/microb2010/tests/tourel_beacon/graph.py
index bee4540022e343f6f1fe1e2d95b3ebd53fc1a1ba..4d710304db6c2a1ccead3c3ed920ead5769820e7 100644 (file)
--- a/projects/microb2010/tests/tourel_beacon/graph.py
+++ b/projects/microb2010/tests/tourel_beacon/graph.py
@@ -332,6 +332,15 @@ def do_graph_2d_ad_error():
                 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)
 
+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, "error_da_%smm_%s.png"%(d, a), title)
+
 def do_graph_2d_move_error():
     i = 0
     for period in [ 20, 40 ]:
@@ -358,4 +367,5 @@ def do_graph_2d_move_error():
 #do_random_test()
 #do_graph_2d_simple_error()
 #do_graph_2d_move_error()
-do_graph_2d_ad_error()
+#do_graph_2d_ad_error()
+do_graph_2d_ad_error_mm()

diff --git a/projects/microb2010/tests/tourel_beacon/main.c b/projects/microb2010/tests/tourel_beacon/main.c
index 8c14f412744175280b5425f990c07fb316f1eea9..90fa109cbfba3083376159b601d2098268d9d5f1 100644 (file)
--- a/projects/microb2010/tests/tourel_beacon/main.c
+++ b/projects/microb2010/tests/tourel_beacon/main.c
@@ -529,14 +529,17 @@ int main(int argc, char **argv)
        }
 
        /* da_error algo errpercent errdeg */
-       if (argc == 5 && strcmp(mode, "da_error") == 0) {
+       if ((argc == 5 && strcmp(mode, "da_error") == 0) ||
+           (argc == 5 && strcmp(mode, "da_error_mm") == 0)) {
                int x, y, algo;
                double err_val_deg;
                double err_val_percent;
+               double err_val_mm;
                double err, d0, d1, a;
 
                algo = atoi(argv[2]);
                err_val_percent = atof(argv[3]); /* how many % of error for dist */
+               err_val_mm = atof(argv[3]); /* how many mm of error for dist */
                err_val_deg = atof(argv[4]); /* how many degrees of error */
 
                for (x=0; x<300; x++) {
@@ -547,9 +550,15 @@ int main(int argc, char **argv)
                                posxy_to_abs_angles(pos, &a0, &a1, &a2,
                                                    0, err_val_deg);
                                d0 = pt_norm(&pos, &beacon0);
-                               d0 += d0 * err_val_percent / 100.;
                                d1 = pt_norm(&pos, &beacon1);
-                               d1 += d1 * err_val_percent / 100.;
+                               if (strcmp(mode, "da_error") == 0) {
+                                       d0 += d0 * err_val_percent / 100.;
+                                       d1 += d1 * err_val_percent / 100.;
+                               }
+                               else {
+                                       d0 += err_val_mm;
+                                       d1 += err_val_mm;
+                               }
 
                                if (ad_to_posxya(&tmp, &a, algo, &beacon0, &beacon1,
                                                 a0, a1, d0, d1) < 0)