From 4e4630419ad9cf25d8940dadeccaa46c8ceb93fc Mon Sep 17 00:00:00 2001 From: MaximZaitsev Date: Wed, 31 Aug 2016 09:38:45 +0300 Subject: [PATCH] add dynamic rotation after corner --- server/src/main/java/algorithm/RoomBypassingAlgorithm.kt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/main/java/algorithm/RoomBypassingAlgorithm.kt b/server/src/main/java/algorithm/RoomBypassingAlgorithm.kt index b17f1bbf768..40243ab26c6 100644 --- a/server/src/main/java/algorithm/RoomBypassingAlgorithm.kt +++ b/server/src/main/java/algorithm/RoomBypassingAlgorithm.kt @@ -122,7 +122,7 @@ class RoomBypassingAlgorithm(thisCar: Car, exchanger: Exchanger) : Abs val resultBuilder = RouteMetricRequest.BuilderRouteMetricRequest(IntArray(0), IntArray(0)) val rotationDirection = if (anglesDistances[Angle(120)]!!.distance > anglesDistances[Angle(60)]!!.distance) LEFT else RIGHT resultBuilder.setDirections(getIntArray(rotationDirection)) - resultBuilder.setDistances(getIntArray(5)) + resultBuilder.setDistances(getIntArray(Math.min(Math.abs(dist60.distance - dist120.distance), 20))) return resultBuilder.build() } else { calibrateAfterRotate = false