Revision: 6441
http://playerstage.svn.sourceforge.net/playerstage/?rev=6441&view=rev
Author: gerkey
Date: 2008-05-14 20:00:00 -0700 (Wed, 14 May 2008)
Log Message:
-----------
added debug output to wavefront
Modified Paths:
--------------
code/player/trunk/server/drivers/planner/wavefront/plan_control.c
Modified: code/player/trunk/server/drivers/planner/wavefront/plan_control.c
===================================================================
--- code/player/trunk/server/drivers/planner/wavefront/plan_control.c
2008-05-15 02:59:46 UTC (rev 6440)
+++ code/player/trunk/server/drivers/planner/wavefront/plan_control.c
2008-05-15 03:00:00 UTC (rev 6441)
@@ -15,7 +15,7 @@
double goal_d, double goal_a)
{
double dt, da;
- dt = sqrt((gx-lx)*(gx-ly) + (gy-ly)*(gy-ly));
+ dt = sqrt((gx-lx)*(gx-lx) + (gy-ly)*(gy-ly));
da = fabs(_angle_diff(ga,la));
if((dt < goal_d) && (da < goal_a))
@@ -50,6 +50,7 @@
// Are we on top of the goal?
d = sqrt((gx-lx)*(gx-lx)+(gy-ly)*(gy-ly));
+ printf("d: %.3f\n", d);
if(d < goal_d)
{
ad = _angle_diff(ga,la);
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