From 6457f461e692b835392689d9943625cb95f06b81 Mon Sep 17 00:00:00 2001
From: Ely Repiso Polo <erepiso@iri.upc.edu>
Date: Fri, 11 Jun 2021 11:16:19 +0000
Subject: [PATCH] =?UTF-8?q?a=C3=B1adidos=20markers,=20scout=20y=20limites?=
=?UTF-8?q?=20finales=20velocidad=20al=20ASPSI,=20tal=20y=20como=20esta=20?=
=?UTF-8?q?en=20el=20companion=20de=20grupos?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
local_lib_people_prediction/.cproject | 130 ++++++++++--------
.../.settings/language.settings.xml | 10 +-
.../bin/prediction_example | Bin 270008 -> 270008 bytes
.../src/nav/plan_local_nav.cpp | 49 ++++---
.../src/nav/plan_local_nav.h | 5 +
5 files changed, 113 insertions(+), 81 deletions(-)
diff --git a/local_lib_people_prediction/.cproject b/local_lib_people_prediction/.cproject
index 8974444..bb02f58 100644
--- a/local_lib_people_prediction/.cproject
+++ b/local_lib_people_prediction/.cproject
@@ -1,44 +1,44 @@
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+ <scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.exe.debug.127626054;cdt.managedbuild.config.gnu.exe.debug.127626054.;cdt.managedbuild.tool.gnu.cpp.compiler.exe.debug.2032993034;cdt.managedbuild.tool.gnu.cpp.compiler.input.1466324987">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo>
<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.exe.debug.889107241;cdt.managedbuild.config.gnu.exe.debug.889107241.;cdt.managedbuild.tool.gnu.cpp.compiler.exe.debug.388215046;cdt.managedbuild.tool.gnu.cpp.compiler.input.1447303397">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo>
- <scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.cross.exe.debug.32037006;cdt.managedbuild.config.gnu.cross.exe.debug.32037006.;cdt.managedbuild.tool.gnu.cross.cpp.compiler.1731729740;cdt.managedbuild.tool.gnu.cpp.compiler.input.1024819215">
+ <scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.exe.release.108563199;cdt.managedbuild.config.gnu.exe.release.108563199.;cdt.managedbuild.tool.gnu.c.compiler.exe.release.1211854380;cdt.managedbuild.tool.gnu.c.compiler.input.683565502">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo>
- <scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.cross.exe.release.152074145;cdt.managedbuild.config.gnu.cross.exe.release.152074145.;cdt.managedbuild.tool.gnu.cross.cpp.compiler.1498925651;cdt.managedbuild.tool.gnu.cpp.compiler.input.1871979781">
+ <scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.cross.exe.debug.32037006;cdt.managedbuild.config.gnu.cross.exe.debug.32037006.;cdt.managedbuild.tool.gnu.cross.cpp.compiler.1731729740;cdt.managedbuild.tool.gnu.cpp.compiler.input.1024819215">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo>
<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.exe.release.1684101099;cdt.managedbuild.config.gnu.exe.release.1684101099.;cdt.managedbuild.tool.gnu.c.compiler.exe.release.959999503;cdt.managedbuild.tool.gnu.c.compiler.input.1373801358">
@@ -132,6 +132,18 @@
<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.exe.debug.1830124302;cdt.managedbuild.config.gnu.exe.debug.1830124302.;cdt.managedbuild.tool.gnu.cpp.compiler.exe.debug.1723483156;cdt.managedbuild.tool.gnu.cpp.compiler.input.881860197">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo>
+ <scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.cross.exe.debug.32037006;cdt.managedbuild.config.gnu.cross.exe.debug.32037006.;cdt.managedbuild.tool.gnu.cross.c.compiler.355107493;cdt.managedbuild.tool.gnu.c.compiler.input.415815349">
+ <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+ </scannerConfigBuildInfo>
+ <scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.exe.release.1903042755;cdt.managedbuild.config.gnu.exe.release.1903042755.;cdt.managedbuild.tool.gnu.cpp.compiler.exe.release.850495135;cdt.managedbuild.tool.gnu.cpp.compiler.input.1531506522">
+ <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+ </scannerConfigBuildInfo>
+ <scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.exe.release.108563199;cdt.managedbuild.config.gnu.exe.release.108563199.;cdt.managedbuild.tool.gnu.cpp.compiler.exe.release.813424575;cdt.managedbuild.tool.gnu.cpp.compiler.input.537017731">
+ <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+ </scannerConfigBuildInfo>
+ <scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.exe.debug.127626054;cdt.managedbuild.config.gnu.exe.debug.127626054.;cdt.managedbuild.tool.gnu.c.compiler.exe.debug.1081729497;cdt.managedbuild.tool.gnu.c.compiler.input.1458563588">
+ <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+ </scannerConfigBuildInfo>
</storageModule>
<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
-</cproject>
+</cproject>
\ No newline at end of file
diff --git a/local_lib_people_prediction/.settings/language.settings.xml b/local_lib_people_prediction/.settings/language.settings.xml
index e8be6d5..3004e24 100644
--- a/local_lib_people_prediction/.settings/language.settings.xml
+++ b/local_lib_people_prediction/.settings/language.settings.xml
@@ -1,25 +1,25 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<project>
- <configuration id="cdt.managedbuild.config.gnu.cross.exe.debug.32037006" name="Debug">
+ <configuration id="cdt.managedbuild.config.gnu.exe.debug.127626054" name="Debug">
<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
- <provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="-913847163843620227" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true">
+ <provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="-586311654608063718" id="org.eclipse.cdt.managedbuilder.core.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
</extension>
</configuration>
- <configuration id="cdt.managedbuild.config.gnu.cross.exe.release.152074145" name="Release">
+ <configuration id="cdt.managedbuild.config.gnu.exe.release.1903042755" name="Release">
<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
- <provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="-913847163843620227" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true">
+ <provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="-586311654608063718" id="org.eclipse.cdt.managedbuilder.core.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
</extension>
</configuration>
-</project>
+</project>
\ No newline at end of file
diff --git a/local_lib_people_prediction/bin/prediction_example b/local_lib_people_prediction/bin/prediction_example
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diff --git a/local_lib_people_prediction/src/nav/plan_local_nav.cpp b/local_lib_people_prediction/src/nav/plan_local_nav.cpp
index b889e3c..194724c 100644
--- a/local_lib_people_prediction/src/nav/plan_local_nav.cpp
+++ b/local_lib_people_prediction/src/nav/plan_local_nav.cpp
@@ -361,7 +361,7 @@ bool Cplan_local_nav::robot_plan_companion3(Spose& pose_command, Cperson_abstrac
actual_person_Companion_pointer_=person_obj_companion_person;
}
//std::cout <<"5 In Local Lib ASSAOP robot_plan_companion3"<< std::endl;
- if(output_screen_messages_){
+ if((in_debug_all_IVO_)||(in_debug_few_IVO_)){
std::cout <<" IMPORTANT!!! before_initial_angle_="<<before_initial_angle_<<"; angle_companion_="<<angle_companion_<< std::endl;
}
@@ -593,9 +593,9 @@ bool Cplan_local_nav::robot_plan_companion3(Spose& pose_command, Cperson_abstrac
break;
case ITER:
- //if(output_screen_messages_){
- //std::cout <<"ATR companion ITER"<< std::endl;
- //}
+ if(in_debug_all_IVO_){
+ std::cout <<"ATR companion ITER"<< std::endl;
+ }
change_final_robot_orientation_=false;
go_behid_comp_person_=true;
goal1_=3;
@@ -617,7 +617,7 @@ bool Cplan_local_nav::robot_plan_companion3(Spose& pose_command, Cperson_abstrac
act_result=robot_plan_companion2(pose_command, reactive,dt);
//std::cout <<" despues de robot_plan_companion2 "<< std::endl;
- if(output_screen_messages_){
+ if(in_debug_all_IVO_){
std::cout <<"COMPANION after robot_plan_companion2; pose_command.v="<<pose_command.v<<"; pose_command.w="<<pose_command.w<< std::endl;
}
@@ -778,7 +778,7 @@ bool Cplan_local_nav::robot_plan_companion3(Spose& pose_command, Cperson_abstrac
}
// FIN SAVE IN FILE
- if(output_screen_messages_){
+ if((in_debug_all_IVO_)||(in_debug_few_IVO_)){
std::cout << "(2) OUTPUT ROBOT PLAN 3 pose_command.v="<<pose_command.v<<"; pose_command.w="<<pose_command.w<< std::endl;
}
return act_result;
@@ -1896,7 +1896,7 @@ if(((pointer_to_person_companion_->get_current_pointV().v()>0.2))){ //&&(change_
// INI Case Only One person accompaniment.
//std::cout << " In last goal people stop 2 "<< std::endl;
if((pointer_to_person_companion_->get_current_pointV().v()<0.2)){
- if(output_screen_messages_){
+ if(in_debug_all_IVO_){
std::cout << " fist pers IMPORTANTE ENTRO EN FRENAR!!! "<< std::endl;
} //TODO: el frenado "lento" para el caso de 1 persona NO acaba de ir bien. De momento lo dejo en comentario
// intentar en un futuro si puedo hacerlo bien.
@@ -2319,37 +2319,52 @@ if(((pointer_to_person_companion_->get_current_pointV().v()>0.2))){ //&&(change_
{
case 1: //case best the robot_goal_negativo_
person_companion_position=robot_goal_negativo_;//.x += (robot_person_proximity_distance_)*cos(theta + angle_companion_*3.14/180);
- // std::cout << " [case1](robot_goal_negativo_) (ROBOT GOAL) person_companion_position.x=" <<person_companion_position.x<< " person_companion_position.y=" <<person_companion_position.y<< std::endl;
+ if(in_debug_all_IVO_){
+ std::cout << " [case1](robot_goal_negativo_) (ROBOT GOAL) person_companion_position.x=" <<person_companion_position.x<< " person_companion_position.y=" <<person_companion_position.y<< std::endl;
+ }
break;
case 2: //case best the robot_goal_positivo_
person_companion_position=robot_goal_positivo_;//.x += (robot_person_proximity_distance_)*cos(theta - (angle_companion_*3.14/180));
- //std::cout << " [case2](robot_goal_positivo_) (ROBOT GOAL) person_companion_position.x=" <<person_companion_position.x<< " person_companion_position.y=" <<person_companion_position.y<< std::endl;
+ if(in_debug_all_IVO_){
+ std::cout << " [case2](robot_goal_positivo_) (ROBOT GOAL) person_companion_position.x=" <<person_companion_position.x<< " person_companion_position.y=" <<person_companion_position.y<< std::endl;
+ }
break;
case 3:
if(min_dist_colli_n>min_dist_colli_p){ //case best the robot_goal_negativo_
person_companion_position=robot_goal_negativo_;
- //std::cout << " [case_act=3] min_dist_colli_n= "<< min_dist_colli_n <<"; > min_dist_colli_p="<<min_dist_colli_p<< std::endl;
- //std::cout << " [case3](robot_goal_negativo_) (ROBOT GOAL) person_companion_position.x=" <<person_companion_position.x<< " person_companion_position.y=" <<person_companion_position.y<< std::endl;
+ if(in_debug_all_IVO_){
+ std::cout << " [case_act=3] min_dist_colli_n= "<< min_dist_colli_n <<"; > min_dist_colli_p="<<min_dist_colli_p<< std::endl;
+ std::cout << " [case3](robot_goal_negativo_) (ROBOT GOAL) person_companion_position.x=" <<person_companion_position.x<< " person_companion_position.y=" <<person_companion_position.y<< std::endl;
+ }
+
}else{ //case best the robot_goal_positivo_
person_companion_position=robot_goal_positivo_;
- //std::cout << " [case_act=3] min_dist_colli_n= "<< min_dist_colli_n <<"; < min_dist_colli_p="<<min_dist_colli_p<< std::endl;
- //std::cout << " [case3](robot_goal_positivo_) (ROBOT GOAL) person_companion_position.x=" <<person_companion_position.x<< " person_companion_position.y=" <<person_companion_position.y<< std::endl;
+ if(in_debug_all_IVO_){
+ std::cout << " [case_act=3] min_dist_colli_n= "<< min_dist_colli_n <<"; < min_dist_colli_p="<<min_dist_colli_p<< std::endl;
+ std::cout << " [case3](robot_goal_positivo_) (ROBOT GOAL) person_companion_position.x=" <<person_companion_position.x<< " person_companion_position.y=" <<person_companion_position.y<< std::endl;
+ }
}
break;
default:
case 0:
- // std::cout << " [case_act=0 or default] min_dist_colli_p= "<< min_dist_colli_p<<"; min_dist_colli_n="<<min_dist_colli_n << std::endl;
- // darle el goal al lado de la persona.
+ if(in_debug_all_IVO_){
+ std::cout << " [case_act=0 or default] min_dist_colli_p= "<< min_dist_colli_p<<"; min_dist_colli_n="<<min_dist_colli_n << std::endl;
+ }
+ // darle el goal al lado de la persona.
if( diffangle(theta, angle) < 0 )
{
person_companion_position=robot_goal_positivo_;
- //std::cout << " (robot_goal_positivo_) case reactive (1) (ROBOT GOAL) person_companion_position.x=" <<person_companion_position.x<< " person_companion_position.y=" <<person_companion_position.y<< std::endl;
+ if(in_debug_all_IVO_){
+ std::cout << " (robot_goal_positivo_) case reactive (1) (ROBOT GOAL) person_companion_position.x=" <<person_companion_position.x<< " person_companion_position.y=" <<person_companion_position.y<< std::endl;
+ }
}
else // es como si hiciera una circunferencia al rededor de la persona. (se intenta poner a un lado o a otro de la persona. segun esos angulos)
{
person_companion_position=robot_goal_negativo_;
- // std::cout << " (robot_goal_negativo_) case reactive (2) (ROBOT GOAL) person_companion_position.x=" <<person_companion_position.x << " person_companion_position.y=" <<person_companion_position.y<< std::endl;
+ if(in_debug_all_IVO_){
+ std::cout << " (robot_goal_negativo_) case reactive (2) (ROBOT GOAL) person_companion_position.x=" <<person_companion_position.x << " person_companion_position.y=" <<person_companion_position.y<< std::endl;
+ }
}
break;
}
diff --git a/local_lib_people_prediction/src/nav/plan_local_nav.h b/local_lib_people_prediction/src/nav/plan_local_nav.h
index 2a3757f..a4a91d1 100644
--- a/local_lib_people_prediction/src/nav/plan_local_nav.h
+++ b/local_lib_people_prediction/src/nav/plan_local_nav.h
@@ -158,6 +158,10 @@ class Cplan_local_nav : public Cprediction_behavior
void set_distance_to_stop( double d ){ distance_to_stop_ = d; }
double get_distance_to_stop( ) { return distance_to_stop_;}
+ void set_debug_all_IVO( bool in_debug_all_IVO ){ in_debug_all_IVO_ = in_debug_all_IVO; }
+ void set_debug_few_IVO( bool in_debug_few_IVO ){ in_debug_few_IVO_ = in_debug_few_IVO; }
+
+
/**
* Return info methods
*/
@@ -1284,6 +1288,7 @@ class Cplan_local_nav : public Cprediction_behavior
bool see_save_in_file_;
bool output_screen_messages_;
+ bool in_debug_few_IVO_, in_debug_all_IVO_;
SpointV calcular_goal_frenado(){
// INI calcular goal final caso frenado.
--
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