Revision 57e82e6c
| ID | 57e82e6cd2377368ade47da9d4658bd360fa0d66 |
Fixed some of the syntax problems with the navigationMap fsm and tested it, it seems to generally work. Note the fsm eta still does not work for various reasons.
| scout/libscout/src/behaviors/navigationMap.cpp | ||
|---|---|---|
| 110 | 110 |
|
| 111 | 111 |
navigationMap::update_state(Turn turn_made) |
| 112 | 112 |
{
|
| 113 |
Edge* possible_edges = get_outbound_edges(current_state);
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|
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Edge* possible_edges = get_outbound_edges(curr_state); |
|
| 114 | 114 |
int arr_size = sizeof(possible_edges)/sizeof(Edge); |
| 115 |
for(i=0;i<arr_size;i++) |
|
| 115 |
for(int i=0;i<arr_size;i++)
|
|
| 116 | 116 |
{
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| 117 | 117 |
//sets the current state to the state associated with the turn made |
| 118 | 118 |
if(GET_EDGE_DIR(possible_edges[i]) == turn_made) |
| 119 | 119 |
{
|
| 120 | 120 |
int speed = 10000;//its over 9000 |
| 121 |
current_state = GET_EDGE_STATE(possible_edges[i]);
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|
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curr_state = GET_EDGE_STATE(possible_edges[i]); |
|
| 122 | 122 |
//TODO: get actual speed |
| 123 | 123 |
arrival_time = ros::Time::now() + |
| 124 | 124 |
GET_EDGE_DIST(possible_edges[i])/speed; |
| 125 |
return current_state;
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|
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return curr_state; |
|
| 126 | 126 |
} |
| 127 | 127 |
} |
| 128 | 128 |
return -1;//failure to succeed |
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