Commit 53858d8f8c9310e2475e96ea839b19874ee0216c - droidcopter

Revisions: comments, hashcode, efficiency Benjamin Bardin 9 years ago

2 changed file(s) with 12 addition(s) and 0 deletion(s). Raw diff Collapse all Expand all

+11

-0

org/haldean/chopper/server/PidExperiment.java less more

1	1
2	2	import java.util.ArrayList;
3	3
	4	/**
	5	* Note: this class has a natural ordering that is inconsistent with equals.
	6	*/
4	7	public class PidExperiment implements Comparable<PidExperiment> {
5	8	public static final long MAX_TIME_MILLIS = 10000;
6	9	public static final double THRESHOLD_ANGLE = 20.0;

61	64	// mScore saved once processed (lazy evaluation)
62	65	if (mScore != -1) return mScore;
63	66
	67	// If we don't get to the start of a third cycle, this experiment
	68	// was really bad. Return MAX_VALUE.
64	69	if (isTimeUp()) {
65	70	mScore = Integer.MAX_VALUE;
66	71	return mScore;

123	128	return (getP() == other.getP()) && (getI() == other.getI()) && (getD() == other.getD());
124	129	}
125	130
	131	public int hashCode() {
	132	return new Double(getP()).hashCode() ^
	133	new Double(getI()).hashCode() ^
	134	new Double(getD()).hashCode();
	135	}
	136
126	137	public int compareTo(PidExperiment other) {
127	138	if (getScore() == other.getScore()) return 0;
128	139	if (getScore() < other.getScore()) return -1;

-0

org/haldean/chopper/server/PidTuner.java less more

45	45	}
46	46	} catch (IllegalArgumentException e) {
47	47	// Default state; no tuning.
	48	return;
48	49	}
49	50	mFringe = new ArrayList<PidExperiment>();
50	51	mHistory = new TreeSet<PidExperiment>();