From: zer0 <zer0@carbon.local>
Date: Sun, 7 Mar 2010 19:31:08 +0000 (+0100)
Subject: tourel beacon
X-Git-Url: http://git.droids-corp.org/?a=commitdiff_plain;h=657979175089eef7f2de8918b6bff47dbd08f2e2;p=aversive.git

tourel beacon
---

diff --git a/projects/microb2010/tests/tourel_beacon/graph.py b/projects/microb2010/tests/tourel_beacon/graph.py
index bee4540..4d71030 100644
--- 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 8c14f41..90fa109 100644
--- 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)