From 12d987a0e43a8dc014b734cf94885aff6272a1ab Mon Sep 17 00:00:00 2001
From: wangzhengquan <wangzhengquan85@126.com>
Date: 星期四, 17 九月 2020 15:45:31 +0800
Subject: [PATCH] update
---
algorithm/IndirectAlg.c | 23 ++++++++++++++---------
1 files changed, 14 insertions(+), 9 deletions(-)
diff --git a/algorithm/IndirectAlg.c b/algorithm/IndirectAlg.c
index 0ad09fd..f0bc6a4 100644
--- a/algorithm/IndirectAlg.c
+++ b/algorithm/IndirectAlg.c
@@ -1,6 +1,7 @@
#include "usg_common.h"
#include "IndirectAlg.h"
#include "graph.h"
+
#define PI 3.14159265
@@ -32,15 +33,15 @@
IndirectAlg::IndirectAlg() {}
-IndirectAlg::IndirectAlg(const initializer_list<Edge> & edges, const time_t & _keepTime, const Vector2 & _direction):
- frame(edges), keepTime(_keepTime), direction(_direction), mterminate(false) {
+IndirectAlg::IndirectAlg(const initializer_list<Edge> & edges,const Vector2 & _direction, const time_t & _keepTime, const double _minDistance):
+ frame(edges), keepTime(_keepTime), minDistance(_minDistance), direction(_direction), mterminate(false) {
mthread = std::thread(std::bind(&IndirectAlg::threadRoutine, this));
}
-IndirectAlg::IndirectAlg(const initializer_list<Point> & points, const time_t & _keepTime, const Vector2 & _direction):
- keepTime(_keepTime), direction(_direction), mterminate(false) {
+IndirectAlg::IndirectAlg(const initializer_list<Point> & points, const Vector2 & _direction, const time_t & _keepTime, const double _minDistance):
+ keepTime(_keepTime), minDistance(_minDistance), direction(_direction), mterminate(false) {
if (points.size() > 0) {
std::vector<Edge> edges;
initializer_list<Point>::iterator iter;
@@ -81,18 +82,21 @@
while (!mterminate.load()) {
std::this_thread::sleep_for(std::chrono::seconds(this->keepTime * 2));
//sleep(this->keepTime);
- for(iter = statusMap.begin(); iter != statusMap.end(); iter++) {
+ for(iter = statusMap.begin(); iter != statusMap.end();) {
status = iter->second;
if (status != nullptr) {
// cout<< "iter " << iter->first <<' '<< iter->second << status->lastTime << endl;
// printf("%ld, %ld, %ld\n", time(NULL), status->lastTime, (time(0) - status->lastTime));
- if((time(NULL) - status->lastTime) > this->keepTime) {
+ if(difftime(time(NULL), status->lastTime) > this->keepTime * 2) {
std::cout << status->id << "鑴辩鐩戞帶鍖�, remove from map\n";
delete status;
- statusMap.erase(iter);
- }
+
+ iter = statusMap.erase(iter);
+ continue;
+ }
}
+ iter++;
}
}
@@ -148,7 +152,8 @@
status->lastCoordinate = record.coordinate;
}
- if (currentDirection.x == 0 && currentDirection.y == 0) {
+
+ if (getVecor2Len(currentDirection) <= minDistance) {
//娌″姩
printRecord(3, record);
return false;
--
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