From f6702333c361551314d3988946bc4a37d987d3a8 Mon Sep 17 00:00:00 2001 From: schodet Date: Sun, 2 May 2004 04:32:30 +0000 Subject: Oula, il date le dernier commit, voir les diff. --- 2004/i/nono/src/motor/tracker.cc | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) (limited to '2004/i/nono/src/motor/tracker.cc') diff --git a/2004/i/nono/src/motor/tracker.cc b/2004/i/nono/src/motor/tracker.cc index 270455a..381ed32 100644 --- a/2004/i/nono/src/motor/tracker.cc +++ b/2004/i/nono/src/motor/tracker.cc @@ -210,10 +210,14 @@ Tracker::computeArcs (double x, double y, double &l, double &r, double eps) /// Met à jour la position. void -Tracker::update (double dL, double dR) +Tracker::update (double dL, double dR, bool zero) { // Compte les zeros. - if (dL == 0.0 && dR == 0.0) + if (zero) + { + zero_++; + } + else if (dL == 0.0 && dR == 0.0) { zero_++; return; @@ -226,8 +230,8 @@ Tracker::update (double dL, double dR) // Avec a petit (c'est le cas, car f_ >> abs (dR - dL)), a ~= atan (a). double dA = (dR - dL) / f_; double dS = 0.5 * (dL + dR); - log_ (Log::verydebug) << "update dL " << dL << " dR " << dR << " - dA " << dA << " dS " << dS << std::endl; + log_ (Log::verydebug) << "update dL " << dL << " dR " << dR << " dA " << + dA << " dS " << dS << std::endl; // Si l'angle est petit, évite une division par presque 0. if (dA < 0.0001 && dA > -0.0001) { -- cgit v1.2.3