Revision: 6444
http://playerstage.svn.sourceforge.net/playerstage/?rev=6444&view=rev
Author: gerkey
Date: 2008-05-16 00:02:32 -0700 (Fri, 16 May 2008)
Log Message:
-----------
removed debug output
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 19:46:11 UTC (rev 6443)
+++ code/player/trunk/server/drivers/planner/wavefront/plan_control.c
2008-05-16 07:02:32 UTC (rev 6444)
@@ -38,7 +38,7 @@
double cx, cy;
double d,b,a,ad;
- puts("*******plan_compute_diffdrive_cmds************");
+ //puts("*******plan_compute_diffdrive_cmds************");
// Are we at the goal?
if(plan_check_done(plan,lx,ly,la,gx,gy,ga,goal_d,goal_a))
@@ -50,7 +50,7 @@
// Are we on top of the goal?
d = sqrt((gx-lx)*(gx-lx)+(gy-ly)*(gy-ly));
- printf("d: %.3f\n", d);
+ //printf("d: %.3f\n", d);
if(d < goal_d)
{
ad = _angle_diff(ga,la);
@@ -63,23 +63,23 @@
}
*vx = 0.0;
*va = *rotate_dir * (avmin + (fabs(ad)/M_PI) * (avmax-avmin));
- printf("on top; vx:%.3f va: %.3f\n", *vx, *va);
+ //printf("on top; vx:%.3f va: %.3f\n", *vx, *va);
return(0);
}
// We're away from the goal; compute velocities
if(plan_get_carrot(plan, &cx, &cy, lx, ly, maxd, dweight) < 0.0)
{
- puts("no carrot");
+ //puts("no carrot");
return(-1);
}
d = sqrt((lx-cx)*(lx-cx) + (ly-cy)*(ly-cy));
b = atan2(cy - ly, cx - lx);
a = amin + (d / maxd) * (amax-amin);
- printf("a: %.3f\n", a*180.0/M_PI);
+ //printf("a: %.3f\n", a*180.0/M_PI);
ad = _angle_diff(b,la);
- printf("ad: %.3f\n", ad*180.0/M_PI);
+ //printf("ad: %.3f\n", ad*180.0/M_PI);
if(fabs(ad) > a)
*vx = 0.0;
@@ -89,7 +89,7 @@
if(ad < 0)
*va = -*va;
- printf("away; vx:%.3f va: %.3f\n", *vx, *va);
+ //printf("away; vx:%.3f va: %.3f\n", *vx, *va);
return(0);
}
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