task main()
{
initializeRobot();
waitForStart(); // Wait for the beginning of autonomous phase.
liftMove(50, 1000);
moveDist(115, 100, SPEED);//Moves forward
turnDeg(45, TURN_RIGHT, 100, SPEED);//Turns right
moveDist(47, 100, SPEED);//Moves forward
}
float ScoreMove(int j1, int j2, int obs)
{
if (j1 == j2)
{
float trans = pStay(j1);
float em = stayDist(obs, j1);
return log(trans * em);
}
else if (j1 + 1 == j2)
{
float ps = pStay(j1);
float pm = (1.0f - ps) * pMerge(j1);
float trans = 1.0f - ps - pm;
float em = moveDist(obs, j1);
return log(trans * em);
}
else if (j1 + 2 == j2)
{
float ps = pStay(j1);
float pm = (1.0f - ps) * pMerge(j1);
if (obs == templateBase(j1))
return log(pm);
else
return NEG_INF;
}
return NEG_INF;
}
float Inc(int i, int j) const
{
assert(0 <= j && j < TemplateLength() &&
0 <= i && i < ReadLength() );
float ps = pStay(j);
float pm = (1.0f - ps) * pMerge(j);
float trans = 1.0f - ps - pm;
float em = moveDist(features_.Channel[i], j);
return log(trans * em);
}
float Del(int i, int j) const
{
assert(0 <= j && j < TemplateLength() &&
0 <= i && i <= ReadLength() );
if ( (!PinStart() && i == 0) || (!PinEnd() && i == ReadLength()) )
{
return 0.0f;
}
else
{
float ps = pStay(j);
float pm = (1.0f - ps) * pMerge(j);
float trans = 1.0f - ps - pm;
float em = moveDist(0, j);
return log(trans * em);
}
}
void CGUITextureCacheBrowser::updateImageList()
{
if (!Panel)
return;
video::IVideoDriver* Driver = Environment->getVideoDriver();
// clear images
u32 i;
for (i=0; i<Images.size(); ++i)
{
Images[i]->drop();
Images[i]->remove();
}
Images.clear();
u32 count = (u32)Driver->getTextureCount();
s32 h = Panel->getClientArea().getWidth()-10;
s32 hw = h/2;
core::rect<s32> pos(Panel->getClientArea().getCenter().X - Panel->getAbsolutePosition().UpperLeftCorner.X - hw, 5,
Panel->getClientArea().getCenter().X - Panel->getAbsolutePosition().UpperLeftCorner.X + hw, h+5);
core::position2di moveDist(0, h+5);
for (u32 i=0; i<count; ++i)
{
core::stringw details;
video::ITexture* tex = Driver->getTextureByIndex(i);
details = L"File name: ";
details += tex->getName().c_str();
details += L"\nFormat: ";
video::ECOLOR_FORMAT cf = tex->getColorFormat();
bool alpha = false;
switch (cf)
{
case video::ECF_A1R5G5B5:
details += L"A1R5G5B5 (16-bit with 1-bit alpha channel)\n";
alpha = true;
break;
case video::ECF_R5G6B5:
details += L"R5G6B5 (16-bit, no alpha channel)\n";
break;
case video::ECF_R8G8B8:
details += L"R8G8B8 (16-bit, no alpha channel)\n";
break;
case video::ECF_A8R8G8B8:
details += L"R8G8B8 (32-bit with 8-bit alpha channel)\n";
alpha = true;
break;
default:
details += L"Unknown\n";
}
core::dimension2di osize = tex->getOriginalSize();
core::dimension2di size = tex->getOriginalSize();
details += "Size: ";
details += size.Width;
details += "x";
details += size.Height;
if (osize != size)
{
details += "\nOriginal Size: ";
details += osize.Width;
details += "x";
details += osize.Height;
}
details += L"\nMip-maps: ";
if (tex->hasMipMaps())
details += L"Yes\n";
else
details += L"No\n";
IGUIImage* img = Environment->addImage(tex, core::position2di(1,1), alpha, Panel, i);
img->grab();
Images.push_back(img);
img->setRelativePosition(pos);
img->setToolTipText(details.c_str());
img->setScaleImage(true);
img->setColor( SelectedTexture == i ? video::SColor(255,255,255,255) : video::SColor(128,128,128,128) );
pos = pos + moveDist;
}
}
