Commit e98a0998 authored by mnaveau's avatar mnaveau
Browse files

change the position of the obstacle.

parent f57220e8
......@@ -262,5 +262,11 @@ namespace PatternGeneratorJRL
};
typedef struct Circle_t Circle ;
inline std::ostream & operator<<(std::ostream & os, const Circle_t & circle)
{
os << "x_0 " << circle.x_0 << " y_0 " << circle.y_0 << " R " << circle.r ;
return os;
}
}
#endif
......@@ -1221,8 +1221,8 @@ void NMPCgenerator::initializeObstacleConstraint()
//obstacle.y_0 = 0.5 ;
//obstacle.r = 0.23 ;
//obstacle.margin = 0.40 ;
obstacle.x_0 = 0.1 ;
obstacle.y_0 = 0.9 ;
obstacle.x_0 = 1.5 ;
obstacle.y_0 = -1.5 ;
obstacle.r = 0.23 ;
obstacle.margin = 0.40 ;
obstacles_.push_back(obstacle);
......@@ -1260,6 +1260,9 @@ void NMPCgenerator::updateObstacleConstraint()
*(obstacles_[obs].r+obstacles_[obs].margin) ;
MAL_VECTOR_FILL(UBobs_[obs],1e+8);
}
#ifdef DEBUG
cout << "prepare the obstacle : " << obstacles_[obs] << endl ;
#endif
}
#ifdef DEBUG
DumpMatrix("Hobs_0" ,Hobs_ [0][0]);
......
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