Diff: Functions.cpp

Revision:

9:76b59c5220f1

Parent:

8:ad8766cf2ec0

Child:

10:6c8ea68e9bac

--- a/Functions.cpp	Tue May 11 15:05:49 2021 +0000
+++ b/Functions.cpp	Tue May 11 17:53:17 2021 +0000
@@ -47,7 +47,7 @@
     
     //if (r > min(z_max, z+alfa/2)) || (abs(phi-theta) > beta/2)
         //L = L0;
-    if ((z < z_max) && (abs(r-z_max) < alfa/2.0))
+    if ((z < z_max) && (abs(r-z) < alfa/2.0))
         L = Locc;
     else if (r <= z)
         L = Lfree;
@@ -58,53 +58,3 @@
     
 }
 
-void bresenham(float poseX, float poseY, float xf, float yf, float z){
-    int T, E, A, B;
-    int x = static_cast<int>(poseX);
-    int y = static_cast<int>(poseY);
-    int dx = static_cast<int>(abs(xf - poseX));
-    int dy = static_cast<int>(abs(yf - poseY));
-    
-    int s1 = static_cast<int>((xf - poseX)/dx); // substitui o sign() do matlab
-    int s2 = static_cast<int>((yf - poseY)/dy);
-    
-    int interchange = 0;
-    
-    if (dy > dx){
-        T = dx;
-        dx = dy;
-        dy = T;
-        interchange = 1;
-    }
-    
-    E = 2*dy - dx;
-    A = 2*dy;
-    B = 2*dy - 2*dx;
-    
-    for (int i = 0; i<dx; i++){
-        if (E < 0){
-            if (interchange == 1){
-                y = y + s2;
-            }
-            else{
-                x = x + s1;
-            }
-            E = E + A;
-        }
-        
-        else{
-            y = y + s2;
-            x = x + s1;
-            E = E + B;
-        }
-        
-        if (x >= 0 && y >= 0 && x < 40 && y < 40){
-            // Mapear mapa do Logaritmo
-            MapaLog[x][y] = MapaLog[x][y] + Algorith_Inverse(poseX, poseY, x, y, z);
-            Mapa40[x][y] = 1 - 1/(1+exp(MapaLog[x][y]));
-        }
-        
-        
-                  
-    }
-}