From 98e0361c555e8e82f6e931b10d661714bdc9369d Mon Sep 17 00:00:00 2001
From: Ely Repiso Polo <erepiso@iri.upc.edu>
Date: Mon, 12 Jul 2021 12:34:25 +0000
Subject: [PATCH] =?UTF-8?q?ya=20va=20el=20iterativo=20de=20accompa=C3=B1am?=
 =?UTF-8?q?iento=20de=201=20persona=20y=20con=20instrucciones=20de=20uso.?=
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 =?UTF-8?q?=20iri=5Frobot=5Faspsi=20y=20iri=5Fpeople=5Fsimulation=5Fassaop?=
 =?UTF-8?q?;=20ademas=20de=20reducir=20el=20numero=20de=20launchs=20en=20a?=
 =?UTF-8?q?mbos?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 ...O_ONLY_one_person_ACCOMPANIMENT_ASPSI.odt# |   2 +-
 ...VO_ONLY_one_person_ACCOMPANIMENT_ASPSI.odt | Bin 1371558 -> 1375463 bytes
 .../src/nav/plan_local_nav.cpp                |  26 +++++++++------
 local_lib_people_prediction/src/scene_sim.cpp |  30 +++++++++---------
 local_lib_people_prediction/src/scene_sim.h   |   2 +-
 maps/fme_open_destinationsATR_staySIM.txt     |   2 +-
 ...estinationsATR_staySIMOTHERpeople_stop.txt |   4 +--
 src/akp_local_planner_alg_node.cpp            |   2 +-
 8 files changed, 37 insertions(+), 31 deletions(-)

diff --git a/docs/1_Install_instructions/instructions_for_IVO/.~lock.Install_instructions_IVO_ONLY_one_person_ACCOMPANIMENT_ASPSI.odt# b/docs/1_Install_instructions/instructions_for_IVO/.~lock.Install_instructions_IVO_ONLY_one_person_ACCOMPANIMENT_ASPSI.odt#
index 761f5cb..c3ed696 100644
--- a/docs/1_Install_instructions/instructions_for_IVO/.~lock.Install_instructions_IVO_ONLY_one_person_ACCOMPANIMENT_ASPSI.odt#
+++ b/docs/1_Install_instructions/instructions_for_IVO/.~lock.Install_instructions_IVO_ONLY_one_person_ACCOMPANIMENT_ASPSI.odt#
@@ -1 +1 @@
-,life,life-ASUS-TUF-Gaming-F15-FX506LU-FX506LU,09.07.2021 14:25,file:///home/life/.config/libreoffice/4;
\ No newline at end of file
+,life,life-ASUS-TUF-Gaming-F15-FX506LU-FX506LU,12.07.2021 14:32,file:///home/life/.config/libreoffice/4;
\ No newline at end of file
diff --git a/docs/1_Install_instructions/instructions_for_IVO/Install_instructions_IVO_ONLY_one_person_ACCOMPANIMENT_ASPSI.odt b/docs/1_Install_instructions/instructions_for_IVO/Install_instructions_IVO_ONLY_one_person_ACCOMPANIMENT_ASPSI.odt
index 31789318fd02d57d8f73da7d6336a15babfe6991..247bd938f575a8ec1b25ac8758e1cae194929abd 100644
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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 3e3fc15..42dfbbe 100644
--- a/local_lib_people_prediction/src/nav/plan_local_nav.cpp
+++ b/local_lib_people_prediction/src/nav/plan_local_nav.cpp
@@ -479,12 +479,14 @@ bool Cplan_local_nav::robot_plan_companion3(Spose& pose_command, Cperson_abstrac
 		if(see_save_in_file_){
 			std::cout <<"ENTRO EN SIM, se cambia nombre FILE segun el caso de simulacion, el fichero del reconfigure."<< std::endl;
 		}
+		std::cout << "global_iter_to_change_simulation_case_"<<	global_iter_to_change_simulation_case_<< std::endl;
 
-		if(global_iter_to_change_simulation_case_<=100){ // 0-> 100
+		if(global_iter_to_change_simulation_case_<=3){ // 0-> 100
 			// change results file. Case 0
-			if(debug_sideBySide2019_){
+			//if(debug_sideBySide2019_){
+
 				std::cout << "PPPP CASE 0; SIM_initial_person_goal_pose1_.x"  << SIM_initial_person_goal_pose1_.x<<"; SIM_initial_person_goal_pose1_.y="<< SIM_initial_person_goal_pose1_.y<< std::endl;
-			}
+			//}
 
 			std::string data_file="/home/erepiso/iri-lab/labrobotica/restricted/algorithms/people_prediction/branches/local_lib_ATR_7_junio/1_data_results_side_by_side/results_person_companion_side_by_side1.txt";
 			results_file_=data_file;
@@ -499,7 +501,7 @@ bool Cplan_local_nav::robot_plan_companion3(Spose& pose_command, Cperson_abstrac
 			actual_case_=Cplan_local_nav::case0;
 
 
-		}else if((global_iter_to_change_simulation_case_>100)&&(global_iter_to_change_simulation_case_<=200)){ // 100 -> 200
+		}else if((global_iter_to_change_simulation_case_>3)&&(global_iter_to_change_simulation_case_<=6)){ // 100 -> 200
 			std::cout << "PPPP CASE 1; SIM_initial_person_goal_pose2_.x"  << SIM_initial_person_goal_pose2_.x<<"; SIM_initial_person_goal_pose2_.y="<< SIM_initial_person_goal_pose2_.y<< std::endl;
 			// change case =1
 			if(first_time_case1_){
@@ -519,7 +521,7 @@ bool Cplan_local_nav::robot_plan_companion3(Spose& pose_command, Cperson_abstrac
 			// Use initial goal person2 and change the person goals case 1 in Cscene sim
 			// change results file. Case 1
 
-		}else if((global_iter_to_change_simulation_case_>200)&&(global_iter_to_change_simulation_case_<=300)){ // 200 -> 300
+		}else if((global_iter_to_change_simulation_case_>6)&&(global_iter_to_change_simulation_case_<=9)){ // 200 -> 300
 			std::cout << "PPPP CASE 2; SIM_initial_person_goal_pose3_.x"  << SIM_initial_person_goal_pose3_.x<<"; SIM_initial_person_goal_pose3_.y="<< SIM_initial_person_goal_pose3_.y<< std::endl;
 			// change case =2
 			if(first_time_case2_){
@@ -592,7 +594,7 @@ bool Cplan_local_nav::robot_plan_companion3(Spose& pose_command, Cperson_abstrac
 				double dist_person_companion_to_ini_goal;
 				SpointV_cov spoint_person_companion_act=actual_person_Companion_SpointV_;
 				dist_person_companion_to_ini_goal=SIM_initial_person_companion_pose2_.distance(spoint_person_companion_act);
-				//std::cout <<"START SIM; (goal3) SIM_initial_robot_pose2_.x="<<SIM_initial_robot_pose2_.x<<"; SIM_initial_robot_pose2_.y="<<SIM_initial_robot_pose2_.y<< std::endl;
+				std::cout <<"START SIM; (goal3) SIM_initial_robot_pose2_.x="<<SIM_initial_robot_pose2_.x<<"; SIM_initial_robot_pose2_.y="<<SIM_initial_robot_pose2_.y<< std::endl;
 
 				if((robot_->get_current_pointV().distance(SIM_initial_robot_pose2_)<2.0)&&(dist_person_companion_to_ini_goal<1.0)){ // antes era 1.75
 					// OJO!!! con personas hay que esperar a que las otras lleguen a su goal!!!
@@ -656,11 +658,15 @@ bool Cplan_local_nav::robot_plan_companion3(Spose& pose_command, Cperson_abstrac
 
 /*** SIMULACION-iterativa: gestionar el saltar al Inicio de la simulacion  ***/
 			if(sim){
-				if(debug_sideBySide2019_){
+				std::cout <<"sim="<<sim<<"first_in_itter_="<<first_in_itter_<<"Action_="<<Action_<< std::endl;
+				//if(debug_sideBySide2019_){
 					std::cout <<"ATR COMPANION robot_plan_companion3; robot_->get_current_pointV().distance(actual_dests->at(2)="<<robot_->get_current_pointV().distance(actual_dests->at(2))<< std::endl;
-				}
-				if(actual_dests->size()>3){
-					if((robot_->get_current_pointV().distance(actual_dests->at(0))<4.5)||(robot_->get_current_pointV().distance(actual_dests->at(2))<3.5)||(robot_->get_current_pointV().distance(actual_dests->at(3))<3.5)){
+					std::cout <<"actual_dests->at(0).x="<<actual_dests->at(0).x<<"actual_dests->at(0).y="<<actual_dests->at(0).y<< std::endl;
+					std::cout <<"actual_dests->at(9).x="<<actual_dests->at(9).x<<"actual_dests->at(9).y="<<actual_dests->at(9).y<< std::endl;
+					std::cout <<"actual_dests->at(17).x="<<actual_dests->at(17).x<<"actual_dests->at(17).y="<<actual_dests->at(17).y<< std::endl;
+				//}
+				if(actual_dests->size()>18){
+					if((robot_->get_current_pointV().distance(actual_dests->at(0))<4.5)||(robot_->get_current_pointV().distance(actual_dests->at(9))<3.5)||(robot_->get_current_pointV().distance(actual_dests->at(17))<3.5)){
 						Action_=Cplan_local_nav::START;
 						if(first_in_itter_){ // cambia caso, nos vamos al inicio que toque!
 							global_iter_to_change_simulation_case_++;
diff --git a/local_lib_people_prediction/src/scene_sim.cpp b/local_lib_people_prediction/src/scene_sim.cpp
index d329ed5..679eda0 100644
--- a/local_lib_people_prediction/src/scene_sim.cpp
+++ b/local_lib_people_prediction/src/scene_sim.cpp
@@ -279,7 +279,7 @@ void Cscene_sim::insert_more_random_people(const std::vector<SdetectionObservati
 	double now = observation[0].time_stamp;
 	std::list<Cperson_abstract*>::iterator iit;
 	//number_virtual_people_=40;  // para fuera personitas id=5 + cambiar txt.destinaciones
-	number_virtual_people_=20;
+	//number_virtual_people_=20;
 
 	if(debug_approach_people_random_){
 	std::cout << "(insert_more_random_people) number_virtual_people_= "<< number_virtual_people_ << std::endl;
@@ -712,7 +712,7 @@ bool Cscene_sim::update_scene_companion_simulation_akp_person_companion(const st
 	std::list<Cperson_abstract*>::iterator iit;
 
 	//number_virtual_people_=40;
-	number_virtual_people_=20;
+	//number_virtual_people_=20;
 //	std::cout << "(Cscene_sim)2  update_scene_companion_simulation_akp_person_companion="<< std::endl;
 
 	// INI: update ides if are set the tracks of the other person companion.
@@ -2207,9 +2207,9 @@ if(!Scene_create_fake_fixed_second_person_companion_){
 
 								dest_1 = get_destinations()->at( 0 );
 								dest_2 = get_destinations()->at( 1 );
-								//std::cout << " case 0: "<< std::endl;
-								//std::cout << " dest_1.x="<<dest_1.x<<"; dest_1.y="<<dest_1.y<< std::endl;
-								//std::cout << " dest_2.x="<<dest_2.x<<"; dest_2.y="<<dest_2.y<< std::endl;
+								//std::cout << " (SIMULATED PERSON) case 0: "<< std::endl;
+								//std::cout << " (SIMULATED PERSON) dest_1.x="<<dest_1.x<<"; dest_1.y="<<dest_1.y<< std::endl;
+								//std::cout << " (SIMULATED PERSON)  dest_2.x="<<dest_2.x<<"; dest_2.y="<<dest_2.y<< std::endl;
 								Sdestination goal_person_dest(2, dest_2.x , dest_2.y , 1 ,Sdestination::Map_goal, neighbours_ids_act);
 								(*iit)->set_best_dest( goal_person_dest );
 								//std::cout << " [1] [ojo if id=1 valor seteado mal] (*iit)->id="<<(*iit)->get_id()<< std::endl;
@@ -2223,9 +2223,9 @@ if(!Scene_create_fake_fixed_second_person_companion_){
 								neighbours_ids_act.push_back(1);
 								dest_1 = get_destinations()->at( 15 );
 								dest_2 = get_destinations()->at( 16 );
-								//std::cout << " case 1: "<< std::endl;
-								//std::cout << " dest_1.x="<<dest_1.x<<"; dest_1.y="<<dest_1.y<< std::endl;
-								//std::cout << " dest_2.x="<<dest_2.x<<"; dest_2.y="<<dest_2.y<< std::endl;
+								//std::cout << "(SIMULATED PERSON)  case 1: "<< std::endl;
+								//std::cout << "(SIMULATED PERSON) dest_1.x="<<dest_1.x<<"; dest_1.y="<<dest_1.y<< std::endl;
+								///std::cout << "(SIMULATED PERSON)  dest_2.x="<<dest_2.x<<"; dest_2.y="<<dest_2.y<< std::endl;
 								Sdestination goal_person_dest(2, dest_2.x , dest_2.y , 1 ,Sdestination::Map_goal, neighbours_ids_act);
 								(*iit)->set_best_dest( goal_person_dest );
 								//std::cout << " [2] [ojo if id=1 valor seteado mal] (*iit)->id="<<(*iit)->get_id()<< std::endl;
@@ -2235,9 +2235,9 @@ if(!Scene_create_fake_fixed_second_person_companion_){
 								neighbours_ids_act.push_back(1);
 								dest_1 = get_destinations()->at( 17 );
 								dest_2 = get_destinations()->at( 18 );
-								//std::cout << " case 2: "<< std::endl;
-								//std::cout << " dest_1.x="<<dest_1.x<<"; dest_1.y="<<dest_1.y<< std::endl;
-								//std::cout << " dest_2.x="<<dest_2.x<<"; dest_2.y="<<dest_2.y<< std::endl;
+								//std::cout << "(SIMULATED PERSON)  case 2: "<< std::endl;
+								//std::cout << "(SIMULATED PERSON)  dest_1.x="<<dest_1.x<<"; dest_1.y="<<dest_1.y<< std::endl;
+								//std::cout << "(SIMULATED PERSON)  dest_2.x="<<dest_2.x<<"; dest_2.y="<<dest_2.y<< std::endl;
 								Sdestination goal_person_dest(2, dest_2.x , dest_2.y , 1 ,Sdestination::Map_goal, neighbours_ids_act);
 								(*iit)->set_best_dest( goal_person_dest );
 								//std::cout << " [3] [ojo if id=1 valor seteado mal] (*iit)->id="<<(*iit)->get_id()<< std::endl;
@@ -3218,7 +3218,7 @@ if(!Scene_create_fake_fixed_second_person_companion_){
 				   akp_for_person_companion_.set_person_companion_desired_velocity_sim(less_companion_velocity_);
 			   }
 
-			   std::cout << " PERSON COMPANION; d_min_="<<d_min_<<" personComp_->vel="<< akp_for_person_companion_.get_person_companion_akp()->get_desired_velocity()<< std::endl;
+			   std::cout << " PERSON COMPANION (DABO); d_min_="<<d_min_<<" personComp_->vel="<< akp_for_person_companion_.get_person_companion_akp()->get_desired_velocity()<< std::endl;
 				// akp_for_person_companion_.get_person_companion_akp()->set_desired_velocty(less_companion_velocity_);
 				// akp_for_person_companion_.set_person_companion_desired_velocity_sim(less_companion_velocity_);
 			/* }else{
@@ -3778,7 +3778,7 @@ if(!Scene_create_fake_fixed_second_person_companion_){
 
 
 						if(actual_sim_case_==Cplan_local_nav_person_companion::case0){
-							std::cout << "(person companion) Cplan_local_nav::case0 destinations_[8].x"<<destinations_ini_security_copy[ 8 ].x<<"; destinations_[8].y"<<destinations_ini_security_copy[ 8 ].y << std::endl;
+							std::cout << "(person companion Dabo) Cplan_local_nav::case0 destinations_[8].x"<<destinations_ini_security_copy[ 8 ].x<<"; destinations_[8].y"<<destinations_ini_security_copy[ 8 ].y << std::endl;
 
 							if ( ((person_companion_person_abstract_.get_person_type() == Cperson_abstract::Person)||(person_companion_person_abstract_.get_person_type() == Cperson_abstract::Person_companion)) &&
 													person_companion_person_abstract_.get_current_pointV().distance( (Spoint)person_companion_person_abstract_.get_best_dest() ) < 1.5 )//destination achieved
@@ -3795,7 +3795,7 @@ if(!Scene_create_fake_fixed_second_person_companion_){
 								person_best_dest_[0]=person_actual_best_dest_;
 							}
 						}else if(actual_sim_case_==Cplan_local_nav_person_companion::case1){
-							std::cout << "(person companion) Cplan_local_nav_person_companion::case1 destinations_[10].x"<<destinations_ini_security_copy[ 10 ].x<<"; destinations_[10].y"<<destinations_ini_security_copy[ 10 ].y << std::endl;
+							std::cout << "(person companion Dabo) Cplan_local_nav_person_companion::case1 destinations_[10].x"<<destinations_ini_security_copy[ 10 ].x<<"; destinations_[10].y"<<destinations_ini_security_copy[ 10 ].y << std::endl;
 							//std::cout << "(person companion) Cplan_local_nav_person_companion::case1; destinations_[10].x"<<destinations_[4].x<<"; destinations_[4].y"<<destinations_[4].y<< std::endl;
 							if ( ((person_companion_person_abstract_.get_person_type() == Cperson_abstract::Person)||(person_companion_person_abstract_.get_person_type() == Cperson_abstract::Person_companion)) &&
 													person_companion_person_abstract_.get_current_pointV().distance( (Spoint)person_companion_person_abstract_.get_best_dest() ) < 1.5 )//destination achieved
@@ -3812,7 +3812,7 @@ if(!Scene_create_fake_fixed_second_person_companion_){
 								person_best_dest_[0]=person_actual_best_dest_;
 							}
 						}else if(actual_sim_case_==Cplan_local_nav_person_companion::case2){
-							std::cout << "(person companion) Cplan_local_nav_person_companion::case2 destinations_[12].x"<<destinations_ini_security_copy[ 12 ].x<<"; destinations_[12].y"<<destinations_ini_security_copy[ 12 ].y << std::endl;
+							std::cout << "(person companion Dabo) Cplan_local_nav_person_companion::case2 destinations_[12].x"<<destinations_ini_security_copy[ 12 ].x<<"; destinations_[12].y"<<destinations_ini_security_copy[ 12 ].y << std::endl;
 							if ( ((person_companion_person_abstract_.get_person_type() == Cperson_abstract::Person)||(person_companion_person_abstract_.get_person_type() == Cperson_abstract::Person_companion)) &&
 													person_companion_person_abstract_.get_current_pointV().distance( (Spoint)person_companion_person_abstract_.get_best_dest() ) < 1.5 )//destination achieved
 							{
diff --git a/local_lib_people_prediction/src/scene_sim.h b/local_lib_people_prediction/src/scene_sim.h
index 8fe0c84..e1e4855 100644
--- a/local_lib_people_prediction/src/scene_sim.h
+++ b/local_lib_people_prediction/src/scene_sim.h
@@ -264,7 +264,7 @@ class Cscene_sim : public Cscene_abstract
 	    SpointV_cov SpointV_cov_fake_second_person_companion;
 
 	    unsigned int get_id_fake_second_person_companion(){
-	    	std::cout<<" get_id_fake_second_person_companion=> id_second_companion_= "<<id_second_companion_<< std::endl;
+	    	//std::cout<<" get_id_fake_second_person_companion=> id_second_companion_= "<<id_second_companion_<< std::endl;
 	    	return id_second_companion_;
 	    }
 
diff --git a/maps/fme_open_destinationsATR_staySIM.txt b/maps/fme_open_destinationsATR_staySIM.txt
index 8c045f5..df19077 100755
--- a/maps/fme_open_destinationsATR_staySIM.txt
+++ b/maps/fme_open_destinationsATR_staySIM.txt
@@ -12,7 +12,7 @@
 10, -2.0, 0, 0.25, 1, 11
 11, 40.0,20.5, 0.25, 1, 10
 12, -2.0, 0, 0.25, 1, 13
-13, 40.0,-2.5, 0.25, 1, 12
+13, 40.0,-20.5, 0.25, 1, 12
 14, -2.0, 0, 0.25, 1, 8
 15, 40.0, -2.5, 0.25, 1, 1 
 16, 1.0, 20.5, 0.25, 1, 0
diff --git a/maps/fme_open_destinationsATR_staySIMOTHERpeople_stop.txt b/maps/fme_open_destinationsATR_staySIMOTHERpeople_stop.txt
index 8ec9882..21e0930 100755
--- a/maps/fme_open_destinationsATR_staySIMOTHERpeople_stop.txt
+++ b/maps/fme_open_destinationsATR_staySIMOTHERpeople_stop.txt
@@ -12,11 +12,11 @@
 10, -2.0, 0, 0.25, 1, 11
 11, 40.0,20.5, 0.25, 1, 10
 12, -2.0, 0, 0.25, 1, 13
-13, 40.0,-2.5, 0.25, 1, 12
+13, 40.0,-20.5, 0.25, 1, 12
 14, -2.0, -2, 0.25, 1, 8
 15, 40.0, -2.5, 0.25, 1, 1 
 16, -2.0, -1.0, 0.25, 1, 0
-17, 40.0, -2.5, 0.25, 1, 1
+17, 40.0, -20.5, 0.25, 1, 1
 18, -2.0, -1.0, 0.25, 1, 0
 19, -2.0, -1.0, 0.25, 1, 19
 
diff --git a/src/akp_local_planner_alg_node.cpp b/src/akp_local_planner_alg_node.cpp
index 777e5f9..cdfe6c2 100644
--- a/src/akp_local_planner_alg_node.cpp
+++ b/src/akp_local_planner_alg_node.cpp
@@ -1852,7 +1852,7 @@ ROS_INFO("AkpLocalPlanner::scan2points:transform: frame_map_: %s-->frame_robot_f
 
         simulation_=config.change_sim;
         this->planner_.set_change_sim_target_per(config.change_sim_target_per);
-
+        this->planner_.set_change_sim(config.change_sim_target_per);
 
 
 	this->planner_.set_metros_al_dynamic_goal_Vform(config.distance_to_dynamic_goal_Vform);
-- 
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