little improvement of sample for Dubins3p

ebertolazzi · Jun 30, 2024 · 1910f59 · 1910f59
1 parent e78464e
commit 1910f59
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/src/Dubins3p_pattern.cc b/src/Dubins3p_pattern.cc
@@ -53,7 +53,7 @@ namespace G2lib {
           real_type a{ i == 0 ? ang[npts-1]-Utils::m_2pi : ang[i-1] };
           //real_type b{ i == npts ? ang[0]+Utils::m_2pi      : ang[i]   };
           real_type b{ ang[i] };
-          real_type delta{ std::min( (b-a)/3, m_sample_angle ) };
+          real_type delta{ std::min( (b-a)/2.99999, m_sample_angle ) };
           while ( a < b ) {
             real_type aa{ a };
             if      ( aa < 0            ) aa += Utils::m_2pi;

diff --git a/src_tests/testDubins3p1.cc b/src_tests/testDubins3p1.cc
@@ -178,7 +178,7 @@ main() {
     lengthsTable_PT(i, 4) = DB_PT.length4();
     lengthsTable_PT(i, 5) = DB_PT.length5();
 
-    if ( 1.013*DB_SD.length() < DB_PT.length() ) {
+    if ( 1.0014*DB_SD.length() < DB_PT.length() ) {
       fmt::print(
         "x0     = {:30.20};\n"
         "y0     = {:30.20};\n"
@@ -294,7 +294,7 @@ main() {
     integer o_PS{ integer( (rappPS.array() > r).count() ) };
     integer o_PT{ integer( (rappPT.array() > r).count() ) };
     fmt::print(
-      "num outliers > {:>8.3f}  EL = {:>6}  PS = {:>6}  PT = {:>6}\n",
+      "num outliers > {:>12.8f}  EL = {:>6}  PS = {:>6}  PT = {:>6}\n",
       r, o_EL, o_PS, o_PT
     );
     if ( o_EL == 0 && o_PS == 0 && o_PT == 0 ) break;