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tourel beacon
[aversive.git]
/
projects
/
microb2010
/
tests
/
tourel_beacon
/
main.c
diff --git
a/projects/microb2010/tests/tourel_beacon/main.c
b/projects/microb2010/tests/tourel_beacon/main.c
index
8c14f41
..
90fa109
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 */
}
/* 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;
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 */
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++) {
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);
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 = 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)
if (ad_to_posxya(&tmp, &a, algo, &beacon0, &beacon1,
a0, a1, d0, d1) < 0)