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add back samples

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commit 1f52ef9c5881a3afa24a10dc51bd372e252821d6 1 parent bdb95bd
Evan Klitzke authored
Showing with 5 additions and 3 deletions.
  1. +1 −1  Makefile
  2. +4 −2 src/mars_math.py
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2  Makefile
@@ -1,6 +1,6 @@
.PHONY: all clean compile test
-all: clean compile test
+all: clean compile
test:
make -C tests
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6 src/mars_math.py
@@ -310,8 +310,10 @@ def occlusion_score(direction):
side_samples += [-x for x in side_samples]
# Put 1/6 behind the rover (TODO)
- directions = front_samples + side_samples
- directions = [d + source_vec.angle.radians for d in directions]
+ back_samples = [(math.pi / 2.0) * (float(i) * 12 / samples) + math.pi / 2.0 for i in range(samples / 12)]
+ back_samples = back_samples + [-x for x in back_samples]
+
+ directions = [d + source_vec.angle.radians for d in (front_samples + side_samples + back_samples)]
#assert all(-91 <= to_degrees(d) <= 91 for d in directions)
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