Revision: 4481
http://playerstage.svn.sourceforge.net/playerstage/?rev=4481&view=rev
Author: gerkey
Date: 2008-04-05 10:00:42 -0700 (Sat, 05 Apr 2008)
Log Message:
-----------
more cspace speedups, commented out debug graphics code
Modified Paths:
--------------
code/player/trunk/server/drivers/planner/wavefront/plan.c
code/player/trunk/server/drivers/planner/wavefront/test.c
Modified: code/player/trunk/server/drivers/planner/wavefront/plan.c
===================================================================
--- code/player/trunk/server/drivers/planner/wavefront/plan.c 2008-04-05
01:55:18 UTC (rev 4480)
+++ code/player/trunk/server/drivers/planner/wavefront/plan.c 2008-04-05
17:00:42 UTC (rev 4481)
@@ -105,14 +105,6 @@
plan->dist_kernel_3x3[i+1][j+1] = *p;
}
}
- for(j=0;j<3;j++)
- {
- for(i=0;i<3;i++)
- {
- printf("%.3f ", plan->dist_kernel_3x3[i][j]);
- }
- puts("");
- }
}
@@ -270,24 +262,22 @@
if (cell->occ_state < 0)
continue;
- cell->occ_dist = FLT_MAX;
+ cell->occ_dist = plan->max_radius;
p = plan->dist_kernel;
for (dj = -plan->dist_kernel_width/2;
dj <= plan->dist_kernel_width/2;
dj++)
{
- di = -plan->dist_kernel_width/2;
- //ncell = plan->cells + PLAN_INDEX(plan, i + di, j + dj);
- ncell = cell + di + dj*plan->size_x;
- for (; di <= plan->dist_kernel_width/2;
- di++, ncell++, p++)
+ ncell = cell + -plan->dist_kernel_width/2 + dj*plan->size_x;
+ for (di = -plan->dist_kernel_width/2;
+ di <= plan->dist_kernel_width/2;
+ di++, p++, ncell++)
{
if (!PLAN_VALID_BOUNDS(plan, i + di, j + dj))
continue;
- //if(*p < ncell->occ_dist)
- if(0.1 < ncell->occ_dist)
+ if(*p < ncell->occ_dist)
ncell->occ_dist = *p;
}
}
@@ -295,7 +285,7 @@
}
}
-#if 1
+#if 0
#include <gdk-pixbuf/gdk-pixbuf.h>
void
Modified: code/player/trunk/server/drivers/planner/wavefront/test.c
===================================================================
--- code/player/trunk/server/drivers/planner/wavefront/test.c 2008-04-05
01:55:18 UTC (rev 4480)
+++ code/player/trunk/server/drivers/planner/wavefront/test.c 2008-04-05
17:00:42 UTC (rev 4481)
@@ -90,6 +90,8 @@
free(mapdata);
+ plan_set_bbox(plan, 25.0, 0.0, lx, ly, gx, gy);
+
t_c0 = get_time();
plan_update_cspace(plan,NULL);
t_c1 = get_time();
@@ -111,7 +113,9 @@
printf("cspace: %.6lf\n", t_c1-t_c0);
printf("plan : %.6lf\n", t_p1-t_p0);
printf("waypnt: %.6lf\n", t_w1-t_w0);
+ printf("total : %.6lf\n", (t_c1-t_c0)+(t_p1-t_p0)+(t_w1-t_w0));
+
if(plan->waypoint_count == 0)
{
puts("no path");
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