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authorAlex Auvolat <alex.auvolat@ens.fr>2015-02-02 00:43:24 +0100
committerAlex Auvolat <alex.auvolat@ens.fr>2015-02-02 00:43:24 +0100
commitcd601db8bf7c3f8a8af398c1a7ab35ee9e352e83 (patch)
tree9c0e520f0270717b0f925f58096e27a4a4f897fc
parent5a91fdc1a3d4b140d75bd96a0bdf308de6789478 (diff)
downloadRobotique-Projet-cd601db8bf7c3f8a8af398c1a7ab35ee9e352e83.tar.gz
Robotique-Projet-cd601db8bf7c3f8a8af398c1a7ab35ee9e352e83.zip
Fix.
-rw-r--r--problem.cpp8
1 files changed, 4 insertions, 4 deletions
diff --git a/problem.cpp b/problem.cpp
index bc8f1d0..e37595b 100644
--- a/problem.cpp
+++ b/problem.cpp
@@ -142,7 +142,7 @@ vector<solution> solution::direct_sol(const hilare_a &pos_a, const hilare_a &pos
<< ", domega2: " << domega2
<< ", xx:" << xx << endl;
- if (fabs(xx) < 0.01 || fabs(xx - 2*M_PI) < 0.01 && fabs(xx + 2*M_PI) < 0.01) {
+ if (fabs(xx) < 0.01 || fabs(xx - 2*M_PI) < 0.01 || fabs(xx + 2*M_PI) < 0.01) {
vector<hilare_a_mvt> sol;
vec p1 = cca + vec::from_polar((pos_a.pos() - cca).norm(), (pos_a.pos() - cca).angle() + domega1);
@@ -185,7 +185,7 @@ vector<solution> solution::direct_sol(const hilare_a &pos_a, const hilare_a &pos
}
std::vector<solution> solution::direct_sol_r(const hilare_a &pos_a, const hilare_a &pos_b) {
- std::vector<solution> ret = direect_sol(pos_a, pos_b);
+ std::vector<solution> ret = direct_sol(pos_a, pos_b);
const int nnn = 8;
const double xa[nnn] = { -1, -0.8, -0.6, -0.4, 0.4, 0.6, 0.8, 1 };
@@ -242,7 +242,7 @@ bool solution::intersects(const problem &p) const {
}
double solution::length() {
- double x;
+ double x = 0;
for (auto& m: movement) {
x += m.length();
}
@@ -416,7 +416,7 @@ void solver_internal::step(const problem &p) {
void solver_internal::find_direct_path(int a, int b, const problem &p) {
vector<solution> s = solution::direct_sol_r(pts[a], pts[b]);
int best = -1;
- for (int k = 0; k < s.size(); k++) {
+ for (unsigned k = 0; k < s.size(); k++) {
if (s[k].movement.size() > 0 && !s[k].intersects(p)) {
if (best == -1 || s[k].length() < s[best].length()) best = k;
}