From 0fed2ec4bb7dd973405622950f6b3446495a9e40 Mon Sep 17 00:00:00 2001
From: Ryotaro Onuki <kerikun11+github@gmail.com>
Date: Sun, 26 Apr 2020 10:02:44 +0900
Subject: [PATCH] =?UTF-8?q?=E8=A1=A8=E7=A4=BA=E3=82=92=E6=9B=B4=E6=96=B0?=
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---
 examples/shape/main.cpp | 18 ++++++++++++++++++
 examples/slalom/plot.py |  4 ++--
 2 files changed, 20 insertions(+), 2 deletions(-)

diff --git a/examples/shape/main.cpp b/examples/shape/main.cpp
index 82ff906..b4cf5f1 100644
--- a/examples/shape/main.cpp
+++ b/examples/shape/main.cpp
@@ -44,6 +44,7 @@ void printDefinition(std::ostream &os, const std::string &name,
 void printDefinitions() {
   for (const auto &e : shapes)
     printDefinition(std::cout, e.first, e.second);
+  std::cout << std::endl;
 }
 
 void printCsv(const std::string &filebase, const slalom::Shape &ss,
@@ -97,6 +98,20 @@ void printTrajectory() {
   printCsv("shape/shape_7", shapes[7].second);
 }
 
+void printTable() {
+  for (const auto &e : shapes) {
+    std::cout << "|" << e.first;
+    std::cout << "|" << e.second.total.th / M_PI * 180;
+    std::cout << "|(" << e.second.total.x << "," << e.second.total.y << ")";
+    std::cout << "|(" << e.second.curve.x << "," << e.second.curve.y << ")";
+    std::cout << "|" << e.second.v_ref;
+    std::cout << "|" << e.second.straight_prev;
+    std::cout << "|" << e.second.straight_post;
+    std::cout << "|" << std::endl;
+  }
+  std::cout << std::endl;
+}
+
 int main(void) {
   /* print definitions to stdout */
   printDefinitions();
@@ -104,5 +119,8 @@ int main(void) {
   /* print trajectory to file*/
   printTrajectory();
 
+  /* print result table */
+  printTable();
+
   return 0;
 }
diff --git a/examples/slalom/plot.py b/examples/slalom/plot.py
index b21abd6..ad8a4a9 100644
--- a/examples/slalom/plot.py
+++ b/examples/slalom/plot.py
@@ -47,8 +47,8 @@
 ax.axis('equal')
 ax.grid(which='major', linestyle='-')
 ax.grid(which='minor', linestyle=':')
-ax.legend(['straight', 'transition curve',
-           'pure arc', 'transition curve', 'straight'])
+ax.legend(['straight before curve', 'transition curve',
+           'pure arc', 'transition curve', 'straight after curve'])
 ax.set_xlabel('$x$ [mm]')
 ax.set_ylabel('$y$ [mm]')
 # ax.set_title('')