bool
Stokhos::JacobiBasis<ordinal_type, value_type>::
computeRecurrenceCoefficients(ordinal_type n,
Teuchos::Array<value_type>& alpha,
Teuchos::Array<value_type>& beta,
Teuchos::Array<value_type>& delta,
Teuchos::Array<value_type>& gamma) const
{
value_type a = alphaIndex_;
value_type b = betaIndex_;
if (a==0.0 && b==0.0)
{
alpha[0] = 0.0;
beta[0] = 1.0;
delta[0] = 1.0;
gamma[0] = 1.0;
}
else
{
alpha[0] = getB(0)/getA(0);
beta[0] = 1.0;
delta[0] = getC(0)/getA(0);
gamma[0] = 1.0;
}
for (ordinal_type i=1; i<n; i++)
{
alpha[i] = getB(i)/getA(i);
beta[i] = getD(i)/getA(i);
delta[i] = getC(i)/getA(i);
gamma[i] = 1.0;
}
return false;
}
/*
**************************************************************
* Prototype: ZOLTAN_EDGE_LIST_MULTI_FN
* For every vertex in the ID list, return a list of all its
* adjacent vertices, and the processes on which they reside.
* Also include the edge weights if any.
* For graph methods.
**************************************************************
*/
static void get_edge_list(void *data, int sizeGID, int sizeLID,
int num_obj, ZOLTAN_ID_PTR globalID, ZOLTAN_ID_PTR localID,
int *num_edges,
ZOLTAN_ID_PTR nborGID, int *nborProc,
int wgt_dim, float *ewgts, int *ierr)
{
UZData *uz = (UZData *) data;
int i, id, r, c, r2, c2, e;
ZOLTAN_ID_PTR nextID;
int *nextProc;
if ( (sizeGID != 1) || (sizeLID != 1) ||
(wgt_dim != 0)){ /* we are not using edge weights */
*ierr = ZOLTAN_FATAL;
return;
}
nextID = nborGID;
nextProc = nborProc;
/* printf("querying %d vertices\n", num_obj); */
for (i=0; i < num_obj ; ++i) {
id = globalID[i];
r = getR(id);
c = getC(id);
/* printf(" %d (%d,%d) : ", id, r, c); */
for (e=0; e<uz->stencil; ++e) {
r2 = r+neig[e].r;
c2 = c+neig[e].c;
if (r2>=0 && r2<uz->meshR &&
c2>=0 && c2<uz->meshC) {
*nextID++ = gID(r2, c2);
*nextProc++ = pID(r2/(uz->meshR/uz->procR), c2/(uz->meshC/uz->procC));
/* printf(" %d (%d, %d) [%d] ", *(nextID-1), r2, c2, *(nextProc-1)); */
}
}
if (uz->redgeto && (uz->redgeto[i]>=0)) {
r2 = getR(uz->redgeto[i]);
c2 = getC(uz->redgeto[i]);
*nextID++ = gID(r2, c2);
*nextProc++ = pID(r2/(uz->meshR/uz->procR), c2/(uz->meshC/uz->procC));
/* printf(" %d (%d, %d) [%d] ", *(nextID-1), r2, c2, *(nextProc-1)); */
}
/* printf("\n"); */
*ierr = ZOLTAN_OK;
}
}
static int filledges(int lid, int *adjID, int *adjProc, UZData *uz)
{
int *nextID = adjID, *ptr;
int *nextProc = adjProc;
int gid = gIDfLID(lid);
int r = getR(gid), r2;
int c = getC(gid), c2, e, j;
/* printf(" %d (%d,%d) : ", id, r, c); */
for (e=0; e<uz->stencil; ++e) {
r2 = r+neig[e].r;
c2 = c+neig[e].c;
if (r2>=0 && r2<uz->meshR &&
c2>=0 && c2<uz->meshC) {
*nextID++ = gID(r2, c2);
if (adjProc)
*nextProc++ = pID(r2/(uz->meshR/uz->procR), c2/(uz->meshC/uz->procC));
/* printf(" %d (%d, %d) [%d] ", *(nextID-1), r2, c2, *(nextProc-1)); */
}
}
if (uz->redgeto && (uz->redgeto[lid]>=0)) {
for (ptr=adjID; ptr<nextID && *ptr!=uz->redgeto[lid]; ++ptr);
if (ptr>=nextID) {
r2 = getR(uz->redgeto[lid]);
c2 = getC(uz->redgeto[lid]);
*nextID++ = uz->redgeto[lid];
if (adjProc)
*nextProc++ = pID(r2/(uz->meshR/uz->procR), c2/(uz->meshC/uz->procC));
/* printf(" %d (%d, %d) [%d] ", *(nextID-1), r2, c2, *(nextProc-1)); */
}
}
if (xadj) {
for (j=xadj[lid]; j<xadj[lid+1]; ++j) {
for (ptr=adjID; ptr<nextID && *ptr!=uz->redgeto[lid]; ++ptr);
if (ptr>=nextID) {
*nextID++ = adj[j];
if (adjProc)
*nextProc++ = pIDfGID(adj[j]);
}
}
}
/* printf("\n"); */
return nextID-adjID;
}
/*Fills the matrix with the matching pattern then used to compute the LCS*/
void fillMatrixWithValues(int** mat, int **p,char* stringA,char* stringB, int lenA, int lenB){
int i, j, s, t;
for(i = 1; i <= lenA; i++) {
for(j = 1; j <= lenB; j++) {
//eq. 7
t = (0 - p[getC(stringA[i - 1])][j]) < 0 ? 1 : 0;
s = (0 - (mat[i - 1][j]-t*mat[i - 1][p[getC(stringA[i - 1])][j]-1])) < 0 ? 1 : 0;
if(stringA[i-1]==stringB[j-1])
cost(i);
mat[i][j] = mat[i - 1][j] + t*(s ^ 1);
//
}
}
}
interrupt void port1ISR(){
_disable_interrupts();
msdelay(20); // delay for 20 ms
ISRc = getC();
P1IFG &= ~(ALLROWS); // clears the interrupt flag
_enable_interrupts();
}
template<SizeT TS> inline void match(const char(&mKeyword)[TS])
{
for(auto i(0u); i < TS - 1; ++i)
{
if(getC() != mKeyword[i]) throwError("Invalid keyword", std::string{"Couldn't match keyword `"} + std::string{mKeyword} + "'");
++idx;
}
}
bool Pyramid::isInside(Point3D point) const {
return point.getP().getX() >= 0 &&
point.getP().getY() >= 0 &&
point.getZ() >= 0 &&
point.getP().getX() / getA() +
point.getP().getY() / getB() +
point.getZ() / getC() <= 1;
}
int getc_main (int argc, char ** argv) {
int c;
while((c = getC()) != 1) {
printf("%c", c + 1);
}
return 0;
}
Vector Quaternion::derivative(const Vector &w)
{
#ifdef QUATERNION_ASSERT
ASSERT(w.getRows() == 3);
#endif
float dataQ[] = {
getA(), -getB(), -getC(), -getD(),
getB(), getA(), -getD(), getC(),
getC(), getD(), getA(), -getB(),
getD(), -getC(), getB(), getA()
};
Vector v(4);
v(0) = 0.0f;
v(1) = w(0);
v(2) = w(1);
v(3) = w(2);
Matrix Q(4, 4, dataQ);
return Q * v * 0.5f;
}
inline Str readStr()
{
// Skip opening '"'
++idx;
// Find end index of the string
auto end(idx);
auto sz(0u);
for(; true; ++end, ++sz)
{
// End of the string
if(getC(end) == '"') break;
// Skip non-escape sequences
if(getC(end) != '\\') continue;
// Skip escape sequences
++end;
SSVU_ASSERT(isValidEscapeSequenceChar(getC(end)));
}
// Reserve memory for the string (BOTTLENECK)
Str result;
result.reserve(sz);
for(; idx < end; ++idx)
{
// Not an escape sequence
if(!isC('\\')) { result += getC(); continue; }
// Escape sequence: skip '\'
++idx;
// Convert escape sequence
result += getEscapeSequence(getC());
}
// Skip closing '"'
++idx;
return result;
}
Double_t strangeZ(Double_t *x, Double_t *par) {
Double_t n0=par[0]; //1.35
Double_t m=par[1]; //(1.78-1.35)/140
Double_t z0=par[2]; //antenna position
Double_t x1=par[3]; // pulser position
Double_t D=x[0];
Double_t C=getC(par,D);
Double_t z1=(D/m)*TMath::CosH(m*(x1+C)/D)-n0/m;
// std::cout << D << "\t" << C << "\t" << z1 <<"\n";
return z1;
}
inline Val parseVal()
{
// Check value type
switch(getC())
{
case '{': return parseObj();
case '[': return parseArr();
case '"': return parseStr();
case 't': return parseBlnTrue();
case 'f': return parseBlnFalse();
case 'n': return parseNll();
}
// Check if value is a number
if(isNumStart(getC())) return parseNum();
throwError("Invalid value", std::string{"No match for values beginning with `"} + getC() + "`");
return Val{Nll{}};
}
/*
* By working with the problem, we can express the numbers b and c based on a.
* So we go through numbers and try to find an a that makes all other
* restrictions fall into place.
*/
long solution() {
//natural numbers, so a=0 isn't an accepted solution.
for(long a = 1; ; ++a) {
long b = getB(a);
long c = getC(a, b);
if(isSolution(a, b, c))
return a*b*c;
}
//if it didn't find a solution return -1 as an indication of error
return -1;
}
int _kill (int argc, char ** argv)
{
int c = getC();
printf("%c\n", c);
if (argc > 1) {
int pid = atoi(argv[1]);
if (pid >= 0) {
kill(2,pid);
}
}
return 0;
}
int main(void) {
int i, len;
char str[20];
scanf("%s", str);
len = strlen(str);
for (i = 0; i < len; i++)
printf("..%c.", getC(i));
printf(".\n");
for (i = 0; i < len; i++)
printf(".%c.%c", getC(i), getC(i));
printf(".\n");
printf("#");
for (i = 0; i < len - 1; i++)
printf(".%c.%c", str[i], i % 3 == 0 ? '#' : '*');
printf(".%c.%c", str[i], i % 3 == 2 ? '*' : '#');
printf("\n");
for (i = 0; i < len; i++)
printf(".%c.%c", getC(i), getC(i));
printf(".\n");
for (i = 0; i < len; i++)
printf("..%c.", getC(i));
printf(".\n");
return 0;
}
/* 释放本技能相关 ui 资源 */
void SkillItem::releaseUI() {
CCTextureCache* pTextureCache = CCTextureCache::sharedTextureCache();
CCSpriteFrameCache* pSpriteFrameCache = CCSpriteFrameCache::sharedSpriteFrameCache();
// 获取大文件名
std::string c = getC();
std::string pvrFile = c + ".pvr.ccz";
std::string plistFile = c + ".plist";
pTextureCache->removeTextureForKey(pvrFile.c_str());
pSpriteFrameCache->removeSpriteFramesFromFile(plistFile.c_str());
}
float ColorSpace::getH()
{
float h;
if (getC() == 0.0f)
{
return 0.5f;
}
if (red == getZ())
{
h = ((float)(grn - blue) / getC() + 6.0f);
while (h > 6.0f)
{
h = h - 6.0f;
}
} else if (grn == getZ())
{
h = (blue - red) / getC() + 2.0f;
} else {
h = (red - grn) / getC() + 4.0f;
}
return h / 6.0f;
}
Vect Triangle::surfaceNormal(Vect dir, Vect pt) {
(void) pt;
Vect v = getB() - getA();
Vect w = getC() - getA();
Vect N = v.crossProduct(w);
N.normalize();
if (N.dotProduct(dir) > 0)
N = N.linearMult(-1);
return N;
}
Double_t strangeRight(Double_t *x, Double_t *par) {
Double_t n0=par[0]; //1.35
Double_t m=par[1]; //(1.78-1.35)/140
Double_t z0=par[2]; //antenna position
Double_t x1=par[3]; // pulser position
Double_t z1=par[4]; // pulser position
Double_t D=x[0];
Double_t C=getC(par,D);
Double_t val=TMath::CosH(m*(x1+C)/D);
// std::cout << D << "\t" << C << "\t" << val <<"\n";
return val;
}
Intersection Triangle::intersects(Ray ray) {
Intersection is(ray, this);
Vect p = ray.getOrigin();
Vect d = ray.getDirection();
Vect v0 = getA();
Vect v1 = getB();
Vect v2 = getC();
Vect e1, e2, h, s, q;
float a0, f, u, v;
e1 = v1 - v0;
e2 = v2 - v0;
h = d.crossProduct(e2);
a0 = e1.dotProduct(h);
if (a0 > -0.00001 && a0 < 0.00001)
return is;
f = 1 / a0;
s = p - v0;
u = f * (s.dotProduct(h));
if (u < 0.0 || u > 1.0)
return is;
q = s.crossProduct(e1);
v = f * d.dotProduct(q);
if (v < 0.0 || u + v > 1.0)
return is;
// at this stage we can compute t to find out where
// the intersection point is on the line
float t = f * e2.dotProduct(q);
if (t > 0.00001) { // ray intersection
is.setIntersectionPoint(t);
return is;
}
else // this means that there is a line intersection
// but not a ray intersection
return is;
}
// Standard getchar
char getchar() {
char c;
int sx = getCursorX();
int sy = getCursorY();
while ((c = getC()) != '\n') {
if (c != 0) {
if (c != 0x0f) {
if (c != '\r' || getCursorY() > sy || getCursorX() > sx)
putchar(c);
} else {
putTab();
}
}
}
putchar(c);
return c;
}
/*
**************************************************************
* Prototype: ZOLTAN_NUM_EDGES_MULTI_FN
* Return the number of edges for each vertex in the ID lists.
* For graph methods.
**************************************************************
*/
static void get_num_edges_list(void *data, int sizeGID, int sizeLID,
int num_obj,
ZOLTAN_ID_PTR globalID, ZOLTAN_ID_PTR localID,
int *numEdges, int *ierr)
{
UZData *uz = (UZData *) data;
int i, id, r, c, r2, c2, edgecnt, e;
if ( (sizeGID != 1) || (sizeLID != 1)){
*ierr = ZOLTAN_FATAL;
return;
}
for (i=0; i < num_obj ; ++i){
id = globalID[i];
r = getR(id);
c = getC(id);
if (r==0 || c==0 || r==(uz->meshR-1) || c==(uz->meshC-1)) {
/* we can probably do much smarter thing bu since
we're not going to time graph generation time,
simply run through over edges and see how many edges
it will have. */
edgecnt = 0;
for (e=0; e<uz->stencil; ++e) {
r2 = r+neig[e].r;
c2 = c+neig[e].c;
if (r2>=0 && r2<uz->meshR &&
c2>=0 && c2<uz->meshC)
++edgecnt;
}
numEdges[i] = edgecnt;
} else /* internal vertices always have all the edges */
numEdges[i] = uz->stencil;
if (uz->redgeto && (uz->redgeto[i]>=0))
++numEdges[i];
}
*ierr = ZOLTAN_OK;
}
int main()
{
int n;
scanf("%d", &n);
int dp[2][3];
dp[0][0] = 1;
dp[0][1] = 0;
dp[0][2] = 0;
int cur = 0;
for (int i = 0; i < n; ++i)
{
cur = 1 - cur;
char c = getC();
if (c == '0')
{
dp[cur][0] = dp[1 - cur][1] + dp[1 - cur][0];
dp[cur][1] = dp[1 - cur][1] + dp[1 - cur][2];
dp[cur][2] = 0;
}
else if (c == '1')
{
dp[cur][0] = 0;
dp[cur][1] = dp[1 - cur][0] + dp[1 - cur][1];
dp[cur][2] = dp[1 - cur][1] + dp[1 - cur][2];
}
else
{
dp[cur][0] = 0;
dp[cur][1] = dp[1 - cur][0] + dp[1 - cur][1];
dp[cur][2] = 0;
}
dp[cur][0] %= mod;
dp[cur][1] %= mod;
dp[cur][2] %= mod;
}
printf("%d\n", dp[cur][0] + dp[cur][1]);
return 0;
}
int
main (void)
{
A* p;
int i;
int s = 0;
p = getB();
for (i = 0; i < 100; i++)
{
s += p->AA();
}
for (i = 0; i < 100; i++)
{
if (i%10 == 0)
p = getB();
else
p = getC();
s += p->AA();
}
printf ("result = %d\n",s);
}
void control::setC(bool change) {
if (getC() != change) {
this->A = change;
emit this->CChanged(change);
}
}
// topdir = 1..nd
// sidedir = -nd..nd
// toplinknum,sidelinknum = 0..nin-1
void
QOP_staples_deriv(QOP_info_t *info, int nout, int nin,
QDP_ColorMatrix *deriv[], QDP_ColorMatrix *chain[],
QDP_ColorMatrix *in[],
int nstaples[], int *topdir[], int *sidedir[],
int *toplinknum[], int *sidelinknum[], QLA_Real *coef[])
{
#define NC QDP_get_nc(in[0])
double dtime = QOP_time();
double nflops = 0;
int nd = QDP_ndim();
QDP_ColorMatrix *ftmps[nin][nd], *t1, *t2, *t3, *t4, *tc, *bt2[nd], *bt3[nd], *ctmps[nd];
int ctn[nd];
for(int i=0; i<nin; i++)
for(int j=0; j<nd; j++)
ftmps[i][j] = NULL;
for(int i=0; i<nd; i++) bt2[i] = bt3[i] = ctmps[i] = NULL;
t1 = QDP_create_M();
t2 = QDP_create_M();
t3 = QDP_create_M();
t4 = QDP_create_M();
tc = QDP_create_M();
// process in reverse in case calculated staples used as input for others
for(int io=nout-1; io>=0; io--) {
for(int i=0; i<nd; i++) {
if(ctmps[i]) QDP_discard_M(ctmps[i]);
ctn[i] = 0;
}
QDP_M_eq_M(tc, chain[io], QDP_all);
for(int s=0; s<nstaples[io]; s++) {
QLA_Real c = coef[io][s];
int tn = toplinknum[io][s];
int sdir = sidedir[io][s];
//QOP_printf0("io: %i s: %i sdir: %i tn: %i c: %g\n", io, s, sdir, tn, c);
if(sdir==0) {
if(c==1) {
QDP_M_peq_M(deriv[tn], tc, QDP_all);
nflops += PEQM;
} else {
QDP_M_peq_r_times_M(deriv[tn], &c, tc, QDP_all);
nflops += 2*PEQM;
}
} else if(sdir>0) {
int nu = sdir-1;
int mu = topdir[io][s]-1;
int sn = sidelinknum[io][s];
//QOP_printf0(" mu: %i nu: %i sn: %i\n", mu, nu, sn);
QDP_ColorMatrix *Umunu = getU(tn, mu, nu);
QDP_ColorMatrix *Unumu = getU(sn, nu, mu);
QDP_M_eq_M_times_M(t1, in[sn], Umunu, QDP_all);
QDP_M_eq_Ma_times_M(t2, tc, t1, QDP_all);
QDP_ColorMatrix *tb2 = shiftb(t2, mu);
QDP_M_eq_M_times_M(t1, tc, Unumu, QDP_all);
QDP_M_eq_Ma_times_M(t3, in[sn], t1, QDP_all);
QDP_ColorMatrix *tb3 = shiftb(t3, nu);
if(c==1) {
QDP_M_peq_M_times_Ma(deriv[sn], t1, Umunu, QDP_all);
QDP_M_peq_M(deriv[sn], tb2, QDP_all);
QDP_M_peq_M(deriv[tn], tb3, QDP_all);
nflops += 4*EQMTM+PEQMTM+2*PEQM;
} else {
QDP_M_eq_M_times_Ma(t4, t1, Umunu, QDP_all);
QDP_M_peq_r_times_M(deriv[sn], &c, t4, QDP_all);
QDP_M_peq_r_times_M(deriv[sn], &c, tb2, QDP_all);
QDP_M_peq_r_times_M(deriv[tn], &c, tb3, QDP_all);
nflops += 5*EQMTM+6*PEQM;
}
QDP_discard_M(tb2);
QDP_discard_M(tb3);
} else {
int nu = -sdir-1;
int mu = topdir[io][s]-1;
int sn = sidelinknum[io][s];
QDP_ColorMatrix *Cmunu = getC(nu);
QDP_ColorMatrix *Unumu = getU(sn, nu, mu);
QDP_M_eq_M_times_M(t1, in[sn], Cmunu, QDP_all);
QDP_M_eq_Ma_times_M(t2, in[tn], t1, QDP_all);
QDP_ColorMatrix *tb2 = shiftb(t2, mu);
QDP_M_eq_M_times_M(t3, in[tn], Unumu, QDP_all);
if(c==1) {
QDP_M_peq_M_times_Ma(deriv[tn], t1, Unumu, QDP_all);
QDP_M_peq_M_times_Ma(deriv[sn], t3, Cmunu, QDP_all);
QDP_M_peq_M(deriv[sn], tb2, QDP_all);
nflops += 3*EQMTM+2*PEQMTM+PEQM;
} else {
QDP_M_eq_M_times_Ma(t4, t1, Unumu, QDP_all);
QDP_M_peq_r_times_M(deriv[tn], &c, t4, QDP_all);
QDP_M_eq_M_times_Ma(t4, t3, Cmunu, QDP_all);
QDP_M_peq_r_times_M(deriv[sn], &c, t4, QDP_all);
QDP_M_peq_r_times_M(deriv[sn], &c, tb2, QDP_all);
nflops += 5*EQMTM+6*PEQM;
}
QDP_discard_M(tb2);
}
}
}
for(int i=0; i<nin; i++)
for(int j=0; j<nd; j++)
if(ftmps[i][j]!=NULL) QDP_destroy_M(ftmps[i][j]);
for(int i=0; i<nd; i++) {
if(bt2[i]!=NULL) QDP_destroy_M(bt2[i]);
if(bt3[i]!=NULL) QDP_destroy_M(bt3[i]);
if(ctmps[i]!=NULL) QDP_destroy_M(ctmps[i]);
}
QDP_destroy_M(t1);
QDP_destroy_M(t2);
QDP_destroy_M(t3);
QDP_destroy_M(t4);
QDP_destroy_M(tc);
info->final_sec = QOP_time() - dtime;
info->final_flop = nflops*QDP_sites_on_node;
info->status = QOP_SUCCESS;
#undef NC
}
static void
load_snap (SNAP *src, STRTAB *stab, SPWAW_SNAPSHOT *dst)
{
int i;
dst->raw.game.cmt.title = STRTAB_getstr (stab, src->cmt.title);
dst->raw.game.cmt.mapsrc = STRTAB_getstr (stab, src->cmt.mapsrc);
getB (year); getB (month); getB (day); getB (hour);
dst->raw.game.battle.location = STRTAB_getstr (stab, src->b.location);
getB (terrain); getB (weather); getB (visibility); getB (turn); getB (turn_max);
getB (OOB_p1); getB (OOB_p2); getB (OOB_p3); getB (OOB_p4);
getB (miss_p1); getB (miss_p2); getB (credit);
for (i=0; i<SNAP_VHEXCNT; i++) {
dst->raw.game.battle.vhex[i].x = src->b.vhex[i].x;
dst->raw.game.battle.vhex[i].y = src->b.vhex[i].y;
dst->raw.game.battle.vhex[i].value = src->b.vhex[i].value;
dst->raw.game.battle.vhex[i].owner = src->b.vhex[i].owner;
}
getC (campaign); getC (start_year); getC (start_month); getC (end_year); getC (end_month);
getC (battles); getC (majvics); getC (minvics); getC (battles_max);
getC (P1BLmen); getC (P1BLart); getC (P1BLsoft); getC (P1BLapc); getC (P1BLafv); getC (P1BLgliders); getC (P1BLair);
getC (P2BLmen); getC (P2BLart); getC (P2BLsoft); getC (P2BLapc); getC (P2BLafv); getC (P2BLgliders); getC (P2BLair);
getC (P1TLmen); getC (P1TLart); getC (P1TLsoft); getC (P1TLapc); getC (P1TLafv); getC (P1TLgliders); getC (P1TLair);
getC (P2TLmen); getC (P2TLart); getC (P2TLsoft); getC (P2TLapc); getC (P2TLafv); getC (P2TLgliders); getC (P2TLair);
getC (busy); getC (P1score); getC (P2score); getC (P1result); getC (P2result);
}
/*
* local function to read an expression
*/
static LVAL _readexpr(tpLspObject pLSP,FILE *f)
{
int ch,ch1,ch2,i;
LVAL p;
char *s;
double dval;
long lval;
spaceat(ch,f);
if( ch == EOF )
{
return NIL;
}
if( ch == pLSP->cClose )
{
return NIL;
}
if( ch == pLSP->cOpen )/* Read a cons node. */
return readcons(pLSP,f);
/**** Note: XLISP allows 1E++10 as a symbol. This is dangerous.
We do not change XLISP (so far), but here I exclude all symbol
names starting with numeral. */
if( const_p1(ch) )/* Read a symbol. */
{
for( i = 0 ; const_p(ch) ; i++ ){
if( storech(pLSP,i,ch) )return NIL;
ch = getC(pLSP,f);
}
UNGETC(ch);
/* Recognize NIL and nil symbols. */
if( !strcmp(BUFFER,"NIL") || !strcmp(BUFFER,"nil") )
return NIL;
p = newsymbol();
s = StrDup( BUFFER );
if( null(p) || s == NULL )return NIL;
setsymbol(p,s);
return p;
}
if( ch == '\"' ){
ch = GETC(f);
storech(pLSP,0,0); /* inititalize the buffer */
if( ch != '\"' )goto SimpleString;
ch = GETC(f);
if( ch != '\"' ){
UNGETC(ch);
ch = '\"';/* ch should hold the first character of the string that is " now */
goto SimpleString;
}
ch = GETC(f);
/* multi line string */
for( i = 0 ; ch != EOF ; i++ ){
if( ch == '\"' ){
ch1 = GETC(f);
ch2 = GETC(f);
if( ch1 == '\"' && ch2 == '\"' )break;
UNGETC(ch2);
UNGETC(ch1);
}
if( ch == '\\' ){
ch = GETC(f);
s = escapers;
while( *s ){
if( *s++ == ch ){
ch = *s;
break;
}
if( *s )s++;
}
}
if( storech(pLSP,i,ch) )return NIL;
ch = GETC(f);
}
p = newstring();
s = StrDup( BUFFER );
if( null(p) || s == NULL )return NIL;
setstring(p,s);
return p;
}
if( ch == '\"' ){/* Read a string. */
ch = GETC(f);/* Eat the " character. */
SimpleString:
for( i = 0 ; ch != '\"' && ch != EOF ; i++ ){
if( ch == '\\' ){
ch = GETC(f);
s = escapers;
while( *s ){
if( *s++ == ch ){
ch = *s;
break;
}
if( *s )s++;
}
}
if( ch == '\n' )return NIL;
if( storech(pLSP,i,ch) )return NIL;
ch = GETC(f);
}
p = newstring();
s = StrDup( BUFFER );
if( null(p) || s == NULL )
{
return NIL;
}
setstring(p,s);
return p;
}
if( numeral1(ch) )
{
for( i = 0 ; isinset(ch,"0123456789+-eE.") ; i++ )
{
if( storech(pLSP,i,ch) )return NIL;
ch = getC(pLSP,f);
}
UNGETC(ch);
cnumeric(BUFFER,&i,&dval,&lval);
switch( i )
{
case 0:
return NIL;
case 1:
/* A float number is coming. */
p = newfloat();
if( null(p) )
{
return NIL;
}
setfloat(p,dval);
return p;
case 2:
/* An integer is coming. */
p = newint();
if( null(p) )
{
return NIL;
}
setint(p,lval);
return p;
default:
return NIL;
}
}
return NIL;
}
void
DLVertex :: Print ( std::ostream& o ) const
{
o << "[d(" << getDepth(true) << "/" << getDepth(false)
<< "),s(" << getSize(true) << "/" << getSize(false)
<< "),b(" << getBranch(true) << "/" << getBranch(false)
<< "),g(" << getGener(true) << "/" << getGener(false)
<< "),f(" << getFreq(true) << "/" << getFreq(false) << ")] ";
o << getTagName();
switch ( Type() )
{
case dtAnd: // nothing to do (except for printing operands)
case dtSplitConcept:
break;
case dtTop: // nothing to do
case dtNN:
return;
case dtDataExpr:
o << ' ' << *static_cast<const TDataEntry*>(getConcept())->getFacet();
return;
case dtDataValue: // named entry -- just like concept names
case dtDataType:
case dtPConcept:
case dtNConcept:
case dtPSingleton:
case dtNSingleton:
o << '(' << getConcept()->getName() << ") " << (isNNameTag(Type()) ? "=" : "[=") << ' ' << getC();
return;
case dtLE:
o << ' ' << getNumberLE() << ' ' << getRole()->getName() << ' ' << getC();
return;
case dtForall:
o << ' ' << getRole()->getName() << '{' << getState() << '}' << ' ' << getC();
return;
case dtIrr:
o << ' ' << getRole()->getName();
return;
case dtProj:
o << ' ' << getRole()->getName() << ", " << getC() << " => " << getProjRole()->getName();
return;
case dtChoose:
o << ' ' << getC();
return;
default:
std::cerr << "Error printing vertex of type " << getTagName() << "(" << Type() << ")";
fpp_unreachable();
}
// print operands of the concept constructor
for ( const_iterator q = begin(); q != end(); ++q )
o << ' ' << *q;
}
void Target::process(cv::Mat drawing) {
//std::cout<<"Drawing "<<point_a.getCenter()<<std::endl;
cv::Scalar red = cv::Scalar(0, 0, 255);
cv::Scalar green = cv::Scalar(0, 255, 0);
cv::line(drawing, getA().getCenter(), getC().getCenter(), red, 3); //AC, shortest side
cv::line(drawing, getA().getCenter(), getB().getCenter(), green, 3); //AB, longest side
//line( drawing, potentialPoints[l].getCenter(), potentialPoints[n].getCenter(), lineColor);
float x2 = getA().getCenter().x;
float y2 = getB().getCenter().y;
cv::line(drawing, getA().getCenter(), cv::Point2f(x2, y2), cv::Scalar(255, 0, 0), 3);
float yawx = getA().getCenter().x - getB().getCenter().x;
float yawy = getA().getCenter().y - getB().getCenter().y;
float yawrad = atan2(yawy, yawx) + (M_PI / 2);
float yawdeg = yawrad * 180 / M_PI;
float centerx = (getA().getCenter().x + getB().getCenter().x) / 2;
float centery = (getA().getCenter().y + getB().getCenter().y) / 2;
float imageCenterX = drawing.cols / 2;
float imageCenterY = drawing.rows / 2;
float dx = centerx - imageCenterX;
float dy = centery - imageCenterY;
float bearingRad = atan2(dy, dx) + (M_PI / 2);
float bearingDeg = bearingRad * 180 / M_PI;
//float relativebearingrad = bearingRad - yawrad;
//float relativebearingdeg = relativebearingrad * 180 / M_PI;
/*
float dx = abs(centerx - imageCenterX);
float dy = abs(centery - imageCenterY);
float bearingRad = atan(dy / dx);
float bearingDeg = bearingRad * 180 / M_PI;
if (centerx > imageCenterX) {
//Center is to the left
if (centery > imageCenterY) {
//Center is to bottom
bearingRad += ((3 * M_PI) / 2);
bearingDeg += 270;
} else if (centery < imageCenterY) {
//Center is to the top
bearingRad = ((3 * M_PI) / 2) - bearingRad;
bearingDeg = 270 - bearingDeg;
}
} else if (centerx < imageCenterX) {
//Center is to the right
if (centery > imageCenterY) {
//Center is to bottom
bearingRad = (M_PI / 2) - bearingRad;
bearingDeg = 90 - bearingDeg;
} else if (centery < imageCenterY) {
//Center is to the top
bearingRad += M_PI / 2;
bearingDeg += 90;
}
}*/
float pitchMultiplier = cos(bearingRad);
float rollMultiplier = sin(bearingRad);
/* Simple proportional roll/pitch controller */
//AB is 24cm on actual target
float abDistance = sqrt( pow(yawx, 2) + pow(yawy, 2) );
float pixelSize = 240 / abDistance;
//max = 1900, normal = 1500, min = 1100
int normalRC = 1500;
int maxRC = 1900;
int minRC = 1100;
float gain = 0.5;
float error = sqrt( pow( (dx * pixelSize), 2) + pow( (dy * pixelSize), 2) );
float output = gain * error;
int pitchRC = (int) (pitchMultiplier * output) + normalRC;
int rollRC = (int) (rollMultiplier * output) + normalRC;
if (pitchRC > maxRC) {
pitchRC = maxRC;
} else if (pitchRC < minRC) {
pitchRC = minRC;
}
if (rollRC > maxRC) {
rollRC = maxRC;
} else if (rollRC < minRC) {
rollRC = minRC;
}
/* Simple proportional yaw controller */
float yawGain = 2.2;
int yawRC = (int) (yawdeg * yawGain) + normalRC;
if (yawRC > maxRC) {
yawRC = maxRC;
} else if (yawRC < minRC) {
yawRC = minRC;
}
printf ("pitch: %f, roll: %f, yaw:%f, abs bearing: %f\n", pitchMultiplier, rollMultiplier, yawdeg, bearingDeg );
printf ("distance: %f, pitchrc: %d, rollrc: %d, yawrc: %d\n", error, pitchRC, rollRC, yawRC );
cv::circle(drawing, cv::Point2f(centerx, centery), 5, cv::Scalar(255, 0, 0), 3);
cv::circle(drawing, cv::Point2f(imageCenterX, imageCenterY), 5, cv::Scalar(255, 0, 0), 3);
std::stringstream ys, ps, rs, bs;
ys << "yaw: " << yawdeg;
ps << "pitch: " << pitchMultiplier;
rs << "roll: " << rollMultiplier;
bs << "bear: " << bearingDeg;
cv::putText(drawing, ys.str(), cv::Point(20,50), cv::FONT_HERSHEY_SIMPLEX, 2, cv::Scalar(0,255,255),2);
cv::putText(drawing, ps.str(), cv::Point(20,150), cv::FONT_HERSHEY_SIMPLEX, 2, cv::Scalar(0,255,255),2);
cv::putText(drawing, rs.str(), cv::Point(20,250), cv::FONT_HERSHEY_SIMPLEX, 2, cv::Scalar(0,255,255),2);
cv::putText(drawing, bs.str(), cv::Point(20,350), cv::FONT_HERSHEY_SIMPLEX, 2, cv::Scalar(0,255,255),2);
}
