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authorschodet2004-02-07 16:55:41 +0000
committerschodet2004-02-07 16:55:41 +0000
commit9fdd6704947174fae292dfc6e14cc1029a7f7a6c (patch)
tree40a4fe775845ececdaf27e82d99d6a06f6b3803e /2004/i/nono/src/motor/test_tracker.cc
parentb673946d76e436c067d24e535b1e0a167b9dfc47 (diff)
Initial revision
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+// test_tracker.cc
+// nono - programme du robot 2004. {{{
+//
+// Copyright (C) 2004 Nicolas Schodet
+//
+// Robot APB Team/Efrei 2004.
+// Web: http://assos.efrei.fr/robot/
+// Email: robot AT efrei DOT fr
+//
+// This program is free software; you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation; either version 2 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// }}}
+#include "tracker.h"
+#include "erreur/erreur.h"
+
+#include <stdlib.h>
+#include <iostream>
+
+int
+main (int argc, char **argv)
+{
+ try
+ {
+ Tracker t;
+ if (argc < 2) return 1;
+ switch (argv[1][0])
+ {
+ case 'e':
+ // Teste le calcul d'erreur.
+ for (int i = 2; i < argc - 1; i += 2)
+ {
+ double x = atof (argv[i]);
+ double y = atof (argv[i + 1]);
+ double el, ea;
+ t.computeError (x, y, el, ea, 50.0, 10.0);
+ std::cout << "error " << x << ' ' << y << ' ' << el << ' ' <<
+ ea << std::endl;
+ }
+ break;
+ case 'a':
+ // Teste le calcul d'arcs.
+ for (int i = 2; i < argc - 1; i += 2)
+ {
+ double x = atof (argv[i]);
+ double y = atof (argv[i + 1]);
+ double l, r;
+ t.computeArcs (x, y, l, r, 50.0);
+ std::cout << "arc " << x << ' ' << y << ' ' << l << ' ' << r
+ << std::endl;
+ }
+ break;
+ default:
+ // Teste les updates.
+ for (int i = 1; i < argc - 1; i += 2)
+ {
+ double l = atof (argv[i]);
+ double r = atof (argv[i + 1]);
+ t.update (l, r);
+ std::cout << "update " << l << ' ' << r << " pos " << t <<
+ std::endl;
+ }
+ }
+ return 0;
+ }
+ catch (Erreur &e)
+ {
+ cerr << e.what () << endl;
+ return 1;
+ }
+}