change decition_brain. change obs_mobieye,change interprobo to 0.16 and change pos_y at pos_y*(-1).

src/decition/decition_brain/decision/obs_mobieye.cpp

@@ -45,7 +45,7 @@ void obs_mobieye::InterpolationTrace(std::vector<iv::Point2D> *pgpsTrace, std::v
         double fdis;
         fdis = sqrt(pow(xgpstrace[k].x - xgpstrace[k+1].x,2)
                     +pow(xgpstrace[k].y - xgpstrace[k+1].y,2));
-        if(fdis > 0.3)
+        if(fdis > 0.16)
         {
             qDebug("fdis %f is big, insert a point2d ",fdis);
             iv::Point2D xpoint;
@@ -75,15 +75,15 @@ int obs_mobieye::GetCandidataObs(std::vector<iv::Point2D> &xgpstrace, iv::mobile
         int index = -1;
         for(j=0;j<ntracecount;j++)
         {
-            if(fabs(pobs->pos_x() - xgpstrace[j].y) > 10.0)
+            if(fabs((pobs->pos_x()*(-1)) - xgpstrace[j].y) > 10.0)
             {
                 continue;
             }
-            if(fabs(pobs->pos_x() - xgpstrace[j].x) > 10.0)
+            if(fabs(pobs->pos_x() - xgpstrace[j].y) > 10.0)
             {
                 continue;
             }
-            double fdis = sqrt(pow(xgpstrace[j].x - pobs->pos_y(),2)
+            double fdis = sqrt(pow(xgpstrace[j].x - (pobs->pos_y()*(-1.0)),2)
                                +pow(xgpstrace[j].y - pobs->pos_x(),2));
             if(fdis<fdismin)
             {
@@ -112,7 +112,7 @@ bool obs_mobieye::PointInObs(iv::mobileye::obs *pobs, iv::Point2D xpoint)
     x = xpoint.x;
     y = xpoint.y;
     double rel_x,rel_y;
-    rel_x = x - pobs->pos_y();
+    rel_x = x - (pobs->pos_y()*(-1));
     rel_y = y - pobs->pos_x();
     double beta = pobs->obsang() *M_PI/180.0;
     double xrot,yrot;