Diff: main.cpp

Revision:

15:35e3917fcbf5

Parent:

14:3aa6d735a2fa

Child:

16:ad381954fc13

diff -r 3aa6d735a2fa -r 35e3917fcbf5 main.cpp
--- a/main.cpp	Mon May 25 11:38:09 2015 +0000
+++ b/main.cpp	Wed May 27 12:12:04 2015 +0000
@@ -79,6 +79,7 @@
 /////////////////////////////////////////
 #define FIRST_S2 0.000001
 #define COUNTER_MAX 10000
+#define ERROR_RANGE 0.001
 double x_cur,x_prev,y_cur,y_prev;//緯度と経度の時刻tと時刻t-1での推定値
 double s2x_cur=FIRST_S2,s2x_prev=FIRST_S2,s2y_cur=FIRST_S2,s2y_prev=FIRST_S2;//緯度経度のの時刻tと時刻t-1での共分散
 double s2_R=FIRST_S2;//GPSセンサの分散
@@ -155,11 +156,11 @@
         }
             
         if(flag >= 16){
-//            if(abs(x_prev - agz.get_agzPoint_lati()) < 0.001 && abs(y_prev - agz.get_agzPoint_longi()) < 0.001){
+          if(abs(x_prev - agz.get_agzPoint_lati()) < ERROR_RANGE && abs(y_prev - agz.get_agzPoint_longi()) < ERROR_RANGE){
                 Kalman(agz.get_agzPoint_lati(), agz.get_agzPoint_longi());
-/*                change = 1;
+                change = 1;
             }
-            else{
+/*            else{
                 change = 0;
             }