urdf_traverser::EigenTransform urdf_traverser::getTransform(const urdf::Pose& p)
{
urdf::Vector3 _jtr = p.position;
Eigen::Vector3d jtr(_jtr.x, _jtr.y, _jtr.z);
urdf::Rotation _jrot = p.rotation;
Eigen::Quaterniond jrot(_jrot.w, _jrot.x, _jrot.y, _jrot.z);
jrot.normalize();
EigenTransform tr;
tr.setIdentity();
tr = tr.translate(jtr);
tr = tr.rotate(jrot);
return tr;
}
int main ()
{
vector<double> v(10, 0.0);
list<double> L;
for (int i = 0; i < 10; i++) {
L.push_back(100 - i * i);
v.push_back(10-i);
}
vectorIterator<double> itr(v);
for (itr.init(); ! itr; itr++)
cout << itr( ) << ' ';
cout << '\n';
double total = 0;
for (itr.init(); ! itr; itr++)
total += itr ();
cout << "total is " << total << '\n';
vectorIterator<double> jtr(v);
sort1(itr, jtr);
for (itr.init(); ! itr; itr++)
cout << itr( ) << ' ';
cout << '\n';
itr.sort(itr, jtr);
for (itr.init(); ! itr; itr++)
cout << itr( ) << ' ';
cout << '\n';
listIterator<double> lt1(L);
for (lt1.init(); ! lt1; lt1++)
cout << lt1( ) << ' ';
cout << '\n';
total = 0;
for (lt1.init(); ! lt1; lt1++)
total += lt1 ();
cout << "total is " << total << '\n';
listIterator<double> jt1(L);
sort1(lt1, jt1);
for (lt1.init(); ! lt1; lt1++)
cout << lt1( ) << ' ';
cout << '\n';
lt1.sort(lt1, jt1);
for (lt1.init(); ! lt1; lt1++)
cout << lt1( ) << ' ';
cout << '\n';
cout << "\nMY STUFF BEGINS HERE!\n";
cout << "VECTOR ITERATOR:\n" << itr;
cout << "LIST ITERATOR:\n" << lt1;
return 1;
}
void SigmoidNetwork::Init(clrandom & r)
{
// initialize weights using random number generator r.
// hidden units.
{
float range = 1.0/sqrt(NInputs+1.0);
vectorIterator<vector<float> *> itr(hidden);
for(itr.init(); ! itr; ++itr) {
vectorIterator<float> jtr(*itr());
for(jtr.init(); ! jtr; ++jtr) {
jtr = r.between(-range, range);
}
}
}
// for output weights, the fan-in changes
{
float range = 1.0/sqrt(NHidden+1.0);
vectorIterator<vector<float> *> itr(outputs);
for(itr.init(); ! itr; ++itr) {
vector<float> & w = *itr();
int j;
float sum = 0.0;
//
for(j = 0; j < NHidden; j++) {
w[j] = r.between(-range, range);
sum += w[j];
}
// set the bias unit. We assume that on the average, half of
// the inputs will be on. So we set the bias weight to be -sum/2
w[NHidden] = -sum/2.0;
}
}
}
void
RetrogradeCommand::modifySegment()
{
std::vector<Event *> toErase;
std::vector<Event *> toInsert;
timeT a0 = m_selection->getStartTime();
timeT a1 = m_selection->getEndTime();
EventSelection::eventcontainer::iterator i;
bool useNotationTimings = false;
for (i = m_selection->getSegmentEvents().begin();
i != m_selection->getSegmentEvents().end(); ++i) {
RG_DEBUG << "RetrogradeCommand::modifySegment: event at " << (*i)->getAbsoluteTime() << " type " << (*i)->getType();
if ((*i)->isa(Note::EventRestType))
continue;
toErase.push_back(*i);
timeT newTime = a0 + a1 - (*i)->getDuration() -
(useNotationTimings ?
(*i)->getNotationAbsoluteTime() : (*i)->getAbsoluteTime());
Event *e;
if (useNotationTimings) {
e = new Event(**i, newTime, (*i)->getDuration(), (*i)->getSubOrdering(),
newTime, (*i)->getNotationDuration());
} else {
e = new Event(**i, newTime);
}
toInsert.push_back(e);
}
Segment &segment(m_selection->getSegment());
for (size_t j = 0; j < toErase.size(); ++j) {
Segment::iterator jtr(segment.findSingle(toErase[j]));
if (jtr != segment.end()) {
RG_DEBUG << "found event " << j;
segment.erase(jtr);
} else {
RG_DEBUG << "failed to find event " << j;
}
}
for (size_t j = 0; j < toInsert.size(); ++j) {
Segment::iterator jtr = segment.end();
// somewhat like the NoteOverlay part of PasteEventsCommand::modifySegment
/* nah -- let's do a de-counterpoint afterwards perhaps
if (m_useNotationTimings && toInsert[j]->isa(Note::EventType)) {
long pitch = 0;
Accidental explicitAccidental = NoAccidental;
toInsert[j]->get<String>(ACCIDENTAL, explicitAccidental);
if (toInsert[j]->get<Int>(PITCH, pitch)) {
jtr = SegmentNotationHelper(segment).insertNote
(toInsert[j]->getAbsoluteTime(),
Note::getNearestNote(toInsert[j]->getDuration()),
pitch, explicitAccidental);
delete toInsert[j];
toInsert[j] = *jtr;
}
} else {
*/
jtr = segment.insert(toInsert[j]);
// }
// insert new event back into selection
m_selection->addEvent(toInsert[j]);
// if (jtr != segment.end()) m_lastInsertedEvent = toInsert[j];
}
segment.normalizeRests(a0, a1);
}
