merge

diff --combined 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
@@@ -76,8 -76,7 +76,8 @@@ def graph_da(filename, real_x, real_y, 
      a1,ea1 = get_angle((real_x, real_y), beacons[1])
      a0 -=  real_a
      a1 -=  real_a
 -    text  = "a0 = %2.2f (%+2.2f deg)\n"%(a0, ea0*(180./math.pi))
 +    text =  "real_pt = %2.2f, %2.2f, %2.2f\n"%(real_x, real_y, real_a)
 +    text += "a0 = %2.2f (%+2.2f deg)\n"%(a0, ea0*(180./math.pi))
      text += "a1 = %2.2f (%+2.2f deg)\n"%(a1, ea1*(180./math.pi))
      d0,ed0 = get_distance((real_x, real_y), beacons[0])
      d1,ed1 = get_distance((real_x, real_y), beacons[1])
@@@ -109,7 -108,6 +109,7 @@@
      ax.plot(x, y, 'g-')
  
      result_pt = (-1, -1)
 +    result_x, result_y, result_a = -1, -1, -1
      patches = []
      for l in s.split("\n"):
          m = re.match("circle: x=%s y=%s r=%s"%(FLOAT, FLOAT, FLOAT), l)
@@@ -123,9 -121,7 +123,9 @@@
                          float(m.groups()[2]), float(m.groups()[3]))
              if (n == 0):
                  patches += [ Circle((x, y), 20, alpha=0.4, facecolor="yellow") ]
 -                result_pt = (x, y)
 +                result_x, result_y = (x, y)
 +                result_pt = (x,y)
 +                result_a = a
              text += l + "\n"
  
      pcol.append(PatchCollection(patches, facecolor="none", alpha = 0.6))
@@@ -139,14 -135,8 +139,14 @@@
           (2200., 1800.), (2200., 500.)]
      l.sort(cmp=lambda p1,p2: (dist(p1,real_pt)<dist(p2,real_pt)) and 1 or -1)
      x,y = l[0]
 -    text += "real_pt: x=%2.2f, y=%2.2f\n"%(real_x, real_y)
 -    text += "error = %2.2f mm"%(dist(real_pt, result_pt))
 +    text += "result_pt: x=%2.2f, y=%2.2f, a=%2.2f\n"%(result_x, result_y, result_a)
 +    error_dist = dist(real_pt, result_pt)
 +    error_a = result_a - real_a
 +    if error_a > math.pi:
 +        error_a -= 2*math.pi
 +    if error_a < -math.pi:
 +        error_a += 2*math.pi
 +    text += "error = %2.2f mm, %2.2f deg"%(error_dist, error_a * 180. / math.pi)
      matplotlib.pyplot.text(x, y, text, size=8,
               ha="center", va="center",
               bbox = dict(boxstyle="round",
@@@ -263,13 -253,13 +263,13 @@@ def graph(filename, real_x, real_y, rea
  
  def do_random_test():
      random.seed(0)
-     for i in range(21):
+     for i in range(100):
          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
@@@ -285,7 -275,7 +285,7 @@@
      fig.savefig(filename)
  
  def get_data(cmd, sat=0):
 -    data = np.array([[0.]*210]*300)
 +    data = np.array([[50.]*210]*300)
      oo,ii = popen2.popen2(cmd)
      ii.close()
      while True:
@@@ -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 ]:
@@@ -350,7 -331,7 +350,7 @@@
              while angle_deg < 360:
                  angle_rad = angle_deg * (math.pi/180.)
                  data = get_data("./main move_error %f %f %f"%(speed, period, angle_rad))
-                 do_graph_2d(data, "error_move_error_%d.png"%(i),
+                 do_graph_2d(data, "move_error/error_move_error_%d.png"%(i),
                              'Erreur de mesure si le robot se deplace a %2.2f m/s\n'
                              'vers %d deg (periode tourelle = %d ms)'%(speed, angle_deg, period))
                  angle_deg += 45
@@@ -364,8 -345,7 +364,8 @@@
                  "En rouge, l'erreur de mesure est > 2cm (pour un deplacement\n"
                  'a %2.2f m/s vers %d deg et une periode tourelle = %d ms)'%(speed, angle_deg, period))
  
 -do_random_test()
 -do_graph_2d_simple_error()
 -do_graph_2d_move_error()
 -do_graph_2d_ad_error()
 +#do_random_test()
 +#do_graph_2d_simple_error()
 +#do_graph_2d_move_error()
 +#do_graph_2d_ad_error()
 +do_graph_2d_ad_error_mm()