modify ttc feature

src/decition/common/common/obstacle_type.h

@@ -9,7 +9,7 @@
 *障碍物类型
 */
 namespace iv {
-    const int grx = 250, gry = 500, centerx = 125, centery = 250;
+    const int grx = 250, gry = 600, centerx = 125, centery = 300;
     const double gridwide = 0.2;
     struct ObstacleBasic
     {

src/decition/decition_brain_sf/decition/brain.cpp

@@ -1396,15 +1396,16 @@ void iv::decition::BrainDecition::UpdateFusion(std::shared_ptr<iv::fusion::fusio
                 fusion_ptr_[dx*(iv::gry) + dy].pointcount = 5;
                 fusion_ptr_[dx*(iv::gry) + dy].ob = 2;
 
-                if(xobs.centroid().y() < 50 && xobs.centroid().y() >5 )
-                {
-                    std::cout<<"     x       y    vy "<<xobs.centroid().x() <<  "     "
-                            << xobs.centroid().y()<< "     "<<fusion_ptr_[dx*(iv::gry) + dy].speed_y<< "     "
-                            <<xobs.vel_relative().y()<<std::endl;
-                    givlog->debug("brain_decition","SendobsDistance: %f,SendobsSpeed: %f",
-                                  xobs.centroid().y(),fusion_ptr_[dx*(iv::gry) + dy].speed_y);
+//                if(xobs.centroid().y() < 50 && xobs.centroid().y() >5 )
+//                {
+//                    std::cout<<"     x       y    vy "<<xobs.centroid().x() <<  "     "
+//                            << xobs.centroid().y()<< "     "<<fusion_ptr_[dx*(iv::gry) + dy].speed_y<< "     "
+//                            <<xobs.vel_relative().y()<<std::endl;
+//                    givlog->debug("brain_decition","SendobsDistance: %f,SendobsSpeed: %f,objwidth: %f,nsize: %f,objsize: %f",
+//                                  xobs.centroid().y(),fusion_ptr_[dx*(iv::gry) + dy].speed_y,xobs.dimensions().x(),
+//                            xobs.nomal_centroid().size(),mfusion_obs_->obj_size());
 
-                }
+//                }
             }
         }