// 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 #include #include 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; double a; t.computeError (x, y, el, ea, a); std::cout << "error " << x << ' ' << y << ' ' << el << ' ' << ea << ' ' << a << 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, false); std::cout << "update " << l << ' ' << r << " pos " << t << std::endl; } } return 0; } catch (const std::exception &e) { std::cerr << e.what () << std::endl; return 1; } }