Diff: sample02.cpp

Revision:

2:b51bb221438a

Parent:

1:85da508f8d7e

Child:

3:8d1778dbf580

diff -r 85da508f8d7e -r b51bb221438a sample02.cpp
--- a/sample02.cpp	Tue Jul 09 08:20:47 2019 +0000
+++ b/sample02.cpp	Tue Jul 09 08:44:22 2019 +0000
@@ -1,24 +1,24 @@
 #include "sample02.h"
 
-Sample::Sample(double accdis_, double decdis_, double maxspeed_)
+Sample::Sample(double accdis_, double decdis_, double maxspeed_, double s_vector_)
 {
-    accdis  =accdis_;
-    decdis  =decdis_;
-    maxspeed=maxspeed_;
+    accdis   = accdis_;
+    decdis   = decdis_;
+    maxspeed = maxspeed_;
+    s_vector = s_vector_;
 }
 
-void Sample::terget_xy(int tergetx_, int tergety_, int startx_, int starty_)
+void Sample::target_xy(int targetx_, int targety_, int startx_, int starty_)
 {
-    tergetDis = hypot((float)(startx_-tergetx_), (float)(starty_-tergety_));
-    if (tergetDis > accdis+decdis) {
+    targetDis = hypot((float)(startx_-targetx_), (float)(starty_-targety_));
+    if (targetDis > accdis+decdis) {
         startx    = startx_;
         starty    = starty_;
-        tergetx   = tergetx_;
-        tergety   = tergety_;
+        targetx   = targetx_;
+        targety   = targety_;
         accsec    = 2.0 / maxspeed * accdis;
         decsec    = 2.0 / maxspeed * decdis;
-        s_vector  = 0.1;
-        middledis = tergetDis - accdis - decdis;
+        middledis = targetDis - accdis - decdis;
     }
 }
 
@@ -27,7 +27,7 @@
     nowx = now_x;
     nowy = now_y;
     nowDis = hypot((startx-nowx),(starty-nowy));
-    tergetRad = atan2((double)(tergety-nowy), (double)(tergetx-nowx));
+    targetRad = atan2((double)(targety-nowy), (double)(targetx-nowx));
     /***/
     if (nowDis < accdis) {
         
@@ -38,7 +38,7 @@
         vector = maxspeed;
     } else if (nowDis > (accdis+middledis)) {
         
-        counter = sqrt(2.0*accsec/maxspeed*fabs(tergetDis-nowDis));
+        counter = sqrt(2.0*accsec/maxspeed*fabs(targetDis-nowDis));
         vector = (-1.0 * sin((2.0*PI/accsec)*counter) + (2.0*PI/accsec)*counter) / (2.0*PI/maxspeed);
         
     }
@@ -47,10 +47,10 @@
 
 double Sample::getvalue_x()
 {
-    return vector * cos(tergetRad);
+    return vector * cos(targetRad);
 }
 
 double Sample::getvalue_y()
 {
-    return vector * sin(tergetRad);
+    return vector * sin(targetRad);
 }
\ No newline at end of file