Merge pull request #2711 from JdeRobot/adding-follow-line-ackermann

Follow Line Adding Ackermann scalings and universes
JdeRobot · Sep 12, 2024 · ceb4cb6 · ceb4cb6
2 parents 8dd6666 + 649bc18
commit ceb4cb6
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Showing 3 changed files with 29 additions and 6 deletions.
diff --git a/db.sqlite3 b/db.sqlite3
diff --git a/exercises/static/exercises/follow_line_newmanager/react-components/SpecificFollowLine.js b/exercises/static/exercises/follow_line_newmanager/react-components/SpecificFollowLine.js
@@ -67,7 +67,7 @@ const SpecificFollowLine = (props) => {
         setLapTime(null)
         switch (context.mapSelected) {
           case "follow_line_default_ros2":
-            circuitName = "simple";
+            circuitName = "default";
             setCircuitImg(defaultCircuit);
             break;
           case "follow_line_montmelo_ros2":
@@ -79,7 +79,23 @@ const SpecificFollowLine = (props) => {
             setCircuitImg(montrealCircuit);
             break;
           case "follow_line_nurburgring_ros2":
-            circuitName = "nürburgring";
+            circuitName = "ngb";
+            setCircuitImg(ngbCircuit);
+            break;
+          case "follow_line_default_ack_ros2":
+            circuitName = "default ack";
+            setCircuitImg(defaultCircuit);
+            break;
+          case "follow_line_montmelo_ack_ros2":
+            circuitName = "montmelo ack";
+            setCircuitImg(montmeloCircuit);
+            break;
+          case "follow_line_montreal_ack_ros2":
+            circuitName = "montreal ack";
+            setCircuitImg(montrealCircuit);
+            break;
+          case "follow_line_nurburgring_ack_ros2":
+            circuitName = "ngb ack";
             setCircuitImg(ngbCircuit);
             break;
         }

diff --git a/...ic/exercises/follow_line_newmanager/react-components/helpers/showCarPositionFollowLine.js b/...ic/exercises/follow_line_newmanager/react-components/helpers/showCarPositionFollowLine.js
@@ -1,12 +1,19 @@
 export const getCarPose = (circuit, position) => {
   var scaleX, scaleY, offsetX, offsetY;
+  let ackUniverse =  circuit.includes("ack")
+  let ackMultiplier = 1;
   let pose = position.substring( 1, position.length - 1);
   let pos = pose.split(",").map(function (item) {
     return parseFloat(item);
   });
 
+  if (ackUniverse) {
+    circuit = circuit.replace(" ack","")
+    ackMultiplier = 3
+  }
+
   switch (circuit) {
-    case "simple":
+    case "default":
       scaleY = 1.25; offsetY = 77
 			scaleX = -2.6; offsetX = 151
       break;
@@ -19,7 +26,7 @@ export const getCarPose = (circuit, position) => {
       scaleY = 0.685; offsetY = 77
 			scaleX = -0.48; offsetX = 151
       break;
-    case "nürburgring":
+    case "ngb":
       scaleY = 1.5; offsetY = 77
 			scaleX = -1.495; offsetX = 151
       break;
@@ -29,8 +36,8 @@ export const getCarPose = (circuit, position) => {
       break;
   }
 
-  var x = Math.round(pos[0]) * scaleX + offsetX;
-  var y = Math.round(pos[1]) * scaleY + offsetY;
+  var x = Math.round(pos[0]) * scaleX / ackMultiplier + offsetX;
+  var y = Math.round(pos[1]) * scaleY / ackMultiplier + offsetY;
 
   return [x,y];
 };