[Core] add gui_debug_x size

Robocup-ssl-China · Apr 15, 2024 · 93eaa98 · 93eaa98
1 parent ef6ee87
commit 93eaa98
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Showing 3 changed files with 9 additions and 6 deletions.
diff --git a/Core/src/Strategy/skill/GotoPosition.cpp b/Core/src/Strategy/skill/GotoPosition.cpp
@@ -151,9 +151,6 @@ CPlayerCommand* CGotoPositionV2::execute(const CVisionModule* pVision)
     bool ignoreNotStop = false;
     target = avoidPenaltyArea(pVision, vecPos, target, avoidLength, vecNumber);
 
-    // 记录当前的规划执行目标点
-    GDebugEngine::Instance()->gui_debug_x(target, TASK_TARGET_COLOR);
-    GDebugEngine::Instance()->gui_debug_line(self.Pos(), target, TASK_TARGET_COLOR);
     if(task().player.vel.mod() > 1e-8) {
         GDebugEngine::Instance()->gui_debug_line(target, target + task().player.vel / 10, COLOR_WHITE);
     }
@@ -185,6 +182,12 @@ CPlayerCommand* CGotoPositionV2::execute(const CVisionModule* pVision)
     final.SetDir((playerFlag & (PlayerStatus::TURN_AROUND_FRONT)) ? self.Dir() : task().player.angle);
     final.SetVel(task().player.vel);
     final.SetRotVel(task().player.rotvel);
+
+    // 记录当前的规划执行目标点
+    GDebugEngine::Instance()->gui_debug_x(final.Pos(), TASK_TARGET_COLOR, 0, 20);
+    GDebugEngine::Instance()->gui_debug_line(target, target+Utils::Polar2Vector(100,final.Dir()), TASK_TARGET_COLOR);
+    GDebugEngine::Instance()->gui_debug_line(self.Pos(), target, TASK_TARGET_COLOR);
+
     /// 调用控制方法
     CControlModel control;
     float usedtime = target.dist(self.Pos()) / capability.maxSpeed / 1.414;	// 单位：秒

diff --git a/Core/src/Utils/GDebugEngine.cpp b/Core/src/Utils/GDebugEngine.cpp
@@ -16,9 +16,9 @@ CGDebugEngine::CGDebugEngine(){
 CGDebugEngine::~CGDebugEngine(){
 }
 
-void CGDebugEngine::gui_debug_x(const CGeoPoint& p, int debug_color,int RGB_value){
+void CGDebugEngine::gui_debug_x(const CGeoPoint& p, int debug_color,int RGB_value, const int size){
 	CGeoPoint basePos = p;
-    static const int x_line_length = 30;
+    const int x_line_length = size/2;
     const CGeoPoint p1 = basePos + CVector( x_line_length, x_line_length);
     const CGeoPoint p2 = basePos + CVector(-x_line_length,-x_line_length);
     gui_debug_line(p1, p2, debug_color,RGB_value);

diff --git a/Core/src/Utils/GDebugEngine.h b/Core/src/Utils/GDebugEngine.h
@@ -31,7 +31,7 @@ class CGDebugEngine{
 public:
     CGDebugEngine();
     ~CGDebugEngine();
-    void gui_debug_x(const CGeoPoint& p, int debug_color = 1,int RGB_value=0);
+    void gui_debug_x(const CGeoPoint& p, int debug_color = 1,int RGB_value=0, const int size = 60 /*mm*/);
     void gui_debug_points(const std::vector<CGeoPoint> points, int debug_color = 1,int RGB_value=0);
     void gui_debug_line(const CGeoPoint& p1, const CGeoPoint& p2, int debug_color = 1,int RGB_value=0);
     void gui_debug_arc(const CGeoPoint& p, double r, double start_angle, double span_angle, int debug_color = 1, int RGB_value=0);