From 94c1d9a38b78c1a836fc2428288ac3f370adc515 Mon Sep 17 00:00:00 2001
From: Matthew Hausknecht <matthew.hausknecht@gmail.com>
Date: Tue, 4 Aug 2015 10:35:30 -0500
Subject: [PATCH] Fixed bug in open angle detection.
---
src/feature_extractor.cpp | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/src/feature_extractor.cpp b/src/feature_extractor.cpp
index f03acf3..c8a9420 100644
--- a/src/feature_extractor.cpp
+++ b/src/feature_extractor.cpp
@@ -209,7 +209,7 @@ float FeatureExtractor::calcLargestOpenAngle(const rcsc::WorldModel &wm,
//float oppAngleTop = oppAngle;
float oppAngleBottom = oppAngle - halfWidthAngle;
float oppAngleTop = oppAngle + halfWidthAngle;
- //std::cout << " to split? " << oppDist << " " << maxDist << std::endl;
+ // std::cout << " to split? " << oppDist << " " << maxDist << std::endl;
if (oppDist < maxDist) {
splitAngles(openAngles,oppAngleBottom,oppAngleTop);
}
@@ -218,7 +218,7 @@ float FeatureExtractor::calcLargestOpenAngle(const rcsc::WorldModel &wm,
float largestOpening = 0;
for (uint i = 0; i < openAngles.size(); ++i) {
OpenAngle &open = openAngles[i];
- //std::cout << " opening: " << RAD_T_DEG * open.first << " " << RAD_T_DEG * open.second << std::endl;
+ // std::cout << " opening: " << RAD_T_DEG * open.first << " " << RAD_T_DEG * open.second << std::endl;
float opening = open.second - open.first;
if (opening > largestOpening) {
largestOpening = opening;
@@ -230,8 +230,8 @@ float FeatureExtractor::calcLargestOpenAngle(const rcsc::WorldModel &wm,
void FeatureExtractor::splitAngles(std::vector<OpenAngle> &openAngles,
float oppAngleBottom, float oppAngleTop) {
std::vector<OpenAngle> resAngles;
- for (uint i = 0; i < resAngles.size(); ++i) {
- OpenAngle& open = resAngles[i];
+ for (uint i = 0; i < openAngles.size(); ++i) {
+ OpenAngle& open = openAngles[i];
if ((oppAngleTop < open.first) || (oppAngleBottom > open.second)) {
resAngles.push_back(open);
} else {
--
2.24.1