add avoid obstacle path set

src/decition/decition_brain_sf/decition/adc_tools/compute_00.cpp

@@ -344,15 +344,16 @@ int iv::decition::Compute00::getPlanSpeed(std::vector<GPSData> MapTrace)
                     }
                 }
 
-//                for(int i=0;i<MapTrace.size();i++){
-//                    //将数据写入文件开始
-//                    ofstream outfile;
-//                    outfile.open("ctr0108003.txt", ostream::app);
-//                    outfile<<"Delta"<< ","  <<doubledata[i][3]<< ","<<"roadMode"<< ","  <<MapTrace[i]->roadMode<< ","
-//                           <<"plan_speed"<< ","  << doubledata[i][4]<< ","<<endl;
-//                    outfile.close();
-//                    //将数据写入文件结束
-//                }
+                for(int i=0;i<MapTrace.size();i++){
+                    //将数据写入文件开始
+                    ofstream outfile;
+                    outfile.open("ctr0108003.txt", ostream::app);
+                    outfile<<"Delta"<< ","  <<doubledata[i][3]<< ","<<"roadMode"<< ","  <<MapTrace[i]->roadMode<< ","
+                           <<"plan_speed"<< ","  << doubledata[i][4]<< ","<<"num,curve"<< ","  <<i<< ","
+                           <<MapTrace[i]->mfCurvature<<endl;
+                    outfile.close();
+                    //将数据写入文件结束
+                }
 
 }
 

src/decition/decition_brain_sf/decition/decide_gps_00.cpp

@@ -1719,7 +1719,7 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
     //shiyanbizhang 0929
     if(obsDistance>0&& (obsDistance<ServiceCarStatus.aocfDis)&&(obs_speed_for_avoid>-8.0)&&(obs_speed_for_avoid<3.0)&&(realspeed>1)//&& (avoid_speed_flag==true)        //
             &&(vehState==normalRun||vehState==backOri || vehState==avoiding) //&&(ObsTimeStart==-1)
-            && (gpsMapLine[PathPoint]->runMode==1)&&(gpsMapLine[PathPoint]->mode2!=3000)&&(gpsMapLine[PathPoint+300]->mode2!=3000)&&(gpsMapLine[PathPoint+100]->mode2!=3000)&&(gpsMapLine[PathPoint+300]->mode2!=23)){
+            && (gpsMapLine[PathPoint]->runMode==1)&& (gpsMapLine[PathPoint]->mbnoavoid==false)&&(gpsMapLine[PathPoint]->mode2!=3000)&&(gpsMapLine[PathPoint+300]->mode2!=3000)&&(gpsMapLine[PathPoint+100]->mode2!=3000)&&(gpsMapLine[PathPoint+300]->mode2!=23)){
 //        ObsTimeStart=GetTickCount();
         ObsTimeEnd+=1.0;
         //dSpeed = min(6.0,dSpeed);
@@ -1759,7 +1759,7 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
         cout<<"\n====================preAvoid time count finish==================\n"<<endl;
     }
 
-    if(obsDistance<0 ||obsDistance>ServiceCarStatus.aocfDis){
+    if((obsDistance<0 ||obsDistance>ServiceCarStatus.aocfDis)&&(gpsMapLine[PathPoint]->mbnoavoid==true)){
         ObsTimeStart=-1;
         ObsTimeEnd=-1;
         ObsTimeSpan=-1;