modify code of avoid in road

src/decition/common/perception_sf/impl_lidar.cpp

@@ -39,13 +39,13 @@ void iv::perception::LiDARSensor::updataFusion(std::shared_ptr<iv::fusion::fusio
     fusion_obs.swap(mfusion_obs_);
     mMutex.unlock();
 
-    ++count ;
-    if(count/epoch ==0 )
-    {
-        count = 0;
+//    ++count ;
+//    if(count/epoch ==0 )
+//    {
+//        count = 0;
 
 
-    }
+//    }
 
 
 

src/decition/decition_brain/decition/decide_gps_00.cpp

@@ -3864,7 +3864,7 @@ float iv::decition::DecideGps00::computeAvoidX(int roadAim,int roadOri,GPSData g
         x= (roadOri-roadAim)*gps->mfRoadWidth;
     }else{
         int num=roadOri-roadAim;
-        switch (num%3) {
+        switch (abs(num%3)) {
         case 0:
             x=(num/3)*gps->mfRoadWidth;
             break;

src/decition/decition_brain_sf/decition/decide_gps_00.cpp

@@ -3474,7 +3474,7 @@ float iv::decition::DecideGps00::computeAvoidX(int roadAim,int roadOri,GPSData g
         x= (roadOri-roadAim)*gps->mfRoadWidth;
     }else{
         int num=roadOri-roadAim;
-        switch (num%3) {
+        switch (abs(num)%3) {
         case 0:
             x=(num/3)*gps->mfRoadWidth;
             break;