WallyHackenslacker/IAS-SS
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Better texture handling.

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Wally Hackenslacker
2017-02-21 17:17:35 -04:00
parent 610ab9cfa0
commit a2d0da2404
3 changed files with 17 additions and 28 deletions
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12
ias_robot.cpp
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@@ -134,7 +134,7 @@ float IASSS_Robot::brss() {
std::map<int, float> U, V;
unsigned int i_min, i_max;
float min, sample, prob, max, sum_uv = 0.0f, steer;
std::ostringstream oss;
// std::ostringstream oss;
while(U.size() < (U_RATIO * NUM_PHERO_SAMPLES)) {
min = std::numeric_limits<double>::max();
@@ -221,12 +221,12 @@ float IASSS_Robot::brss() {
steer = (NUM_PHERO_SAMPLES / 2.0f) - i_max;
oss << "samples: " << std::endl;
for(unsigned int i = 0; i < NUM_PHERO_SAMPLES; i++)
oss << "\tSAMPLE[" << i << "]: " << _phero_sensor[i] << " - " << _phero_sensor.sample_amnt[i] << " - " << _phero_sensor.probs[i] << std::endl;
oss << "\ti_max: " << i_max << " | Steer: " << steer;
// oss << "samples: " << std::endl;
// for(unsigned int i = 0; i < NUM_PHERO_SAMPLES; i++)
// oss << "\tSAMPLE[" << i << "]: " << _phero_sensor[i] << " - " << _phero_sensor.sample_amnt[i] << " - " << _phero_sensor.probs[i] << std::endl;
// oss << "\ti_max: " << i_max << " | Steer: " << steer;
log(oss.str());
// log(oss.str());
return steer;
}