qreal angle(const QPointF &p1, const QPointF &p2)
{
static const qreal rad_factor = 180 / Q_PI;
qreal _angle = 0;
if (p1.x() == p2.x()) {
if (p1.y() < p2.y())
_angle = 270;
else
_angle = 90;
} else {
qreal x1, x2, y1, y2;
if (p1.x() <= p2.x()) {
x1 = p1.x(); y1 = p1.y();
x2 = p2.x(); y2 = p2.y();
} else {
x2 = p1.x(); y2 = p1.y();
x1 = p2.x(); y1 = p2.y();
}
qreal m = -(y2 - y1) / (x2 - x1);
_angle = qAtan(m) * rad_factor;
if (p1.x() < p2.x())
_angle = 180 - _angle;
else
_angle = -_angle;
}
return _angle;
}
Rpn::Operand Arctangent::calculate(FunctionCalculator *calculator, QList<Rpn::Operand> actualArguments)
{
Q_UNUSED(calculator);
Rpn::Operand result;
result.type = Rpn::OperandNumber;
result.value = qAtan(actualArguments.at(0).value.value<Number>());
return result;
}
/**********************************************************************
* Function: get the angle from the deltax and deltay.
* Parameters: deltax, deltay
* Return: angle
**********************************************************************/
qreal QArcItem::getAngle(qreal dDeltaX, qreal dDeltaY) const
{
qreal dAngle = 0.0, dK = 0.0;
const qreal dDelta = 0.01;
/*dDeltaX --> 0*/
if (dDeltaX > -dDelta && dDeltaX < dDelta)
{
if (dDeltaY > 0)
{
dAngle = 90;
}
else if (dDeltaY < 0)
{
dAngle = 270;
}
}
/*dDeltaY --> 0*/
else if (dDeltaY > -dDelta && dDeltaY < dDelta)
{
if (dDeltaX > 0)
{
dAngle = 0;
}
else if (dDeltaX < 0)
{
dAngle = 180;
}
}
else
{
dK = dDeltaY / dDeltaX;
dAngle = qAtan(dK);
dAngle *= ((PI_ANGLE * 0.5) / M_PI);
/*Quadrant 2*/
if (dDeltaY > 0 && dDeltaX < 0)
{
dAngle += 180;
}
/*Quadrant 3*/
else if (dDeltaY < 0 && dDeltaX < 0)
{
dAngle = 270 - (90 - dAngle);
}
/*Quadrant 4*/
else if (dDeltaY < 0 && dDeltaX > 0)
{
dAngle += 360;
}
}
return dAngle;
}
void toolpath::arcToSegments(QPoint p1, QPoint p2,Path &path)
{
double angle;
if((p1.x()-p2.x())==0)
{
if(p1.y()>p2.y())
angle=3.1415926/2;
else
angle=3.1415926*3/2;
}
else if((p1.y()-p2.y())==0)
{
if(p1.x()>p2.x())
angle=0;
else
angle=3.1415926;
}
else
{
angle=qAtan((p1.y()-p2.y())*1.0/(p1.x()-p2.x()));
if(angle<0)
{
if(p1.y()>p2.y())
angle=angle+3.1415926;
else
angle=angle;
}
else
{
if(p2.y()<p1.y())
angle=angle;
else
angle=angle+3.1415926;
}
}
double startAngle = angle;
double spanAngle =3.1415926;
QPoint c=(p1+p2)/2;
double r=qSqrt(double(p2.x()-p1.x())*double(p2.x()-p1.x())+double(p2.y()-p1.y())*double(p2.y()-p1.y()))/2;
double temp=(r-arcError)*1.0/r;//for debug
double stepAngle=2*acos(temp);
if(stepAngle==0)stepAngle=0.12566;//50 steps
double stepNum=2*3.1415926/stepAngle;
for(double a=startAngle;a>startAngle-spanAngle;a-=stepAngle)
{
IntPoint t;
t.X=r*cos(a)+c.x();
t.Y=r*sin(a)+c.y();
path<<t;
}
}
// Returns the angle of the point acording to the origin
// Result should be in [0, 2*PI)
qreal angle(QPointF point, QPointF origin)
{
qreal dx = point.x() - origin.x();
qreal dy = origin.y() - point.y();
qreal result = qAtan(qAbs(dy / dx));
if (dx < 0 && dy >= 0)
return PI - result;
if (dx <= 0 && dy < 0)
return PI + result;
if (dx > 0 && dy < 0)
return 2 * PI - result;
if (result != result) // NaN !!!
return 0;
return result;
}
static double line2Radians( const QPointF &p1, const QPointF &p2 )
{
const QPointF p = p2 - p1;
double angle;
if ( p.x() == 0 )
angle = ( p.y() <= 0.0 ) ? M_PI_2 : 3 * M_PI_2;
else
{
angle = qAtan( double( -p.y() ) / double( p.x() ) );
if ( p.x() < 0.0 )
angle += M_PI;
if ( angle < 0.0 )
angle += 2 * M_PI;
}
return 360.0 - angle * 180.0 / M_PI;
}
void dtkComposerNodeTestCase::testNumber(void)
{
dtkComposerNodeInteger n_int;
QVERIFY(n_int.value() == 0);
dtkComposerNodeReal n_real;
QVERIFY(n_real.value() == 0);
qlonglong v_int = 1123581321;
double v_real = 4 * qAtan(1);
n_int.setValue(v_int);
QCOMPARE(v_int, n_int.value());
n_real.setValue(v_real);
QCOMPARE(v_real, n_real.value());
dtkComposerNodeInteger n_ires;
QVERIFY(n_ires.receivers().first()->connect(n_int.emitters().first()));
n_int.run();
n_ires.run();
QCOMPARE(v_int, n_ires.value());
dtkComposerNodeReal n_rres;
QVERIFY(n_rres.receivers().first()->connect(n_real.emitters().first()));
n_real.run();
n_rres.run();
QCOMPARE(v_real, n_rres.value());
QVERIFY(n_ires.receivers().first()->disconnect(n_int.emitters().first()));
QVERIFY(n_ires.receivers().first()->connect(n_real.emitters().first()));
n_real.run();
n_ires.run();
QCOMPARE(static_cast<qlonglong>(v_real), n_ires.value());
QVERIFY(n_rres.receivers().first()->disconnect(n_real.emitters().first()));
QVERIFY(n_rres.receivers().first()->connect(n_int.emitters().first()));
n_int.run();
n_rres.run();
QCOMPARE(static_cast<double>(v_int), n_rres.value());
}
void CircleWidget::updateScene()
{
const qreal PI = qAtan(1.0)*4;
int count=_list.size();
qreal pitch = (2*PI) / count;
_scene->clear();
QRect r = ui->graphicsView->geometry();
QBrush b = QBrush(QColor(Qt::black));
QPen p = QPen(b, 4.0);
qreal topleftX = r.width()/8;
qreal topleftY = r.height()/8;
qreal radiusX = 3*topleftX;
qreal radiusY = 3*topleftY;
QGraphicsEllipseItem* ellipse = _scene->addEllipse(0, 0, radiusX*2, radiusY*2, p);
ellipse->setPos(topleftX, topleftY);
qreal sizeX = topleftX*2;
qreal sizeY = topleftY*2;
int curs = 0;
typedef QMap<std::string, IdentityWidget*>::const_iterator itList;
for (itList it=_list.constBegin(); it!=_list.constEnd(); ++it){
QPixmap pix = it.value()->getImage();
pix = pix.scaled(sizeX, sizeY);
QGraphicsPixmapItem* item = _scene->addPixmap(pix);
qreal x = (qCos(curs*pitch)*radiusX)-(sizeX/2)+topleftX+radiusX;
qreal y = (qSin(curs*pitch)*radiusY)-(sizeY/2)+topleftY+radiusY;
item->setPos(QPointF(x, y));
QString name = it.value()->getName();
QString idKey = it.value()->keyId();
QString gxsId = it.value()->gxsId();
if (idKey == gxsId) gxsId.clear();
item->setToolTip(name.append("\n")
.append(idKey).append(gxsId.isEmpty()?"":"\n")
.append(gxsId));
++curs;
}//for (itList it=_list.constBegin(); it!=_list.constEnd(); ++it)
emit imageUpdated();
}
double LevelOneDec::ArcCos(double x)
{
double result;
if ((1 - x*x) < 0)
{
return 0;
}
else
{
if (qSqrt(1 - x*x) == 0)
{
return 0;
}
else
{
result = 2*qAtan(1) - atan(x / sqrt(1 - x*x));
}
}
return result;
}
// slots
void Ant::onPositionChanged(QPointF center, QPointF vector)
{
_center = center;
float x = vector.x();
float y = vector.y();
float angleInTriangle = qAtan(y / x);
float angleInRad = 0;
if (x >= 0 && y >= 0) {
angleInRad = angleInTriangle;
} else if (x < 0 && y >= 0) {
angleInRad = M_PI + angleInTriangle;
} else if (x < 0 && y < 0) {
angleInRad = M_PI + angleInTriangle;
} else if (x >= 0 && y < 0) {
angleInRad = angleInTriangle;
}
_direction = angleInRad * 180 / M_PI - 90;
setupShape();
_mouthPosition = _center + vector * _scale * 1.5;
}
void dtkComposerNodeTestCase::testNumberOperatorBinary(void)
{
qlonglong v_i0 = 112358;
qlonglong v_i1 = 11235;
dtkComposerNodeInteger n_i0;
dtkComposerNodeInteger n_i1;
n_i0.setValue(v_i0);
n_i1.setValue(v_i1);
n_i0.run();
n_i1.run();
dtkComposerNodeInteger n_iend;
// EUCLIDIAN DIVISION
dtkComposerNodeNumberOperatorBinaryEucldiv n_eucl;
QVERIFY(n_eucl.receivers().first()->connect(n_i0.emitters().first()));
QVERIFY(n_eucl.receivers().last()->connect( n_i1.emitters().first()));
QVERIFY(n_iend.receivers().first()->connect(n_eucl.emitters().first()));
n_eucl.run();
n_iend.run();
QCOMPARE((v_i0 / v_i1), n_iend.value());
QVERIFY(n_iend.receivers().first()->disconnect(n_eucl.emitters().first()));
// MODULO
dtkComposerNodeNumberOperatorBinaryModulo n_mod;
QVERIFY(n_mod.receivers().first()->connect( n_i0.emitters().first()));
QVERIFY(n_mod.receivers().last()->connect( n_i1.emitters().first()));
QVERIFY(n_iend.receivers().first()->connect(n_mod.emitters().first()));
n_mod.run();
n_iend.run();
QCOMPARE((v_i0 % v_i1), n_iend.value());
QVERIFY(n_iend.receivers().first()->disconnect(n_mod.emitters().first()));
// ---
double v_r0 = 4. * qAtan(1.);
double v_r1 = 10. / 3.;
dtkComposerNodeReal n_r0;
dtkComposerNodeReal n_r1;
n_r0.setValue(v_r0);
n_r1.setValue(v_r1);
n_r0.run();
n_r1.run();
dtkComposerNodeReal n_rend;
// MIN
dtkComposerNodeNumberOperatorBinaryMin n_min;
QVERIFY(n_min.receivers().first()->connect(n_r0.emitters().first()));
QVERIFY(n_min.receivers().last()->connect( n_r1.emitters().first()));
QVERIFY(n_rend.receivers().first()->connect(n_min.emitters().first()));
n_min.run();
n_rend.run();
QCOMPARE(qMin(v_r0, v_r1), n_rend.value());
QVERIFY(n_rend.receivers().first()->disconnect(n_min.emitters().first()));
// MAX
dtkComposerNodeNumberOperatorBinaryMax n_max;
QVERIFY(n_max.receivers().first()->connect(n_r0.emitters().first()));
QVERIFY(n_max.receivers().last()->connect( n_r1.emitters().first()));
QVERIFY(n_rend.receivers().first()->connect(n_max.emitters().first()));
n_max.run();
n_rend.run();
QCOMPARE(qMax(v_r0, v_r1), n_rend.value());
QVERIFY(n_rend.receivers().first()->disconnect(n_max.emitters().first()));
// MINUS (SUBSTRACTION)
dtkComposerNodeNumberOperatorBinaryMinus n_minus;
QVERIFY(n_minus.receivers().first()->connect(n_r0.emitters().first()));
QVERIFY(n_minus.receivers().last()->connect( n_r1.emitters().first()));
QVERIFY(n_rend.receivers().first()->connect(n_minus.emitters().first()));
n_minus.run();
n_rend.run();
QCOMPARE((v_r0 - v_r1), n_rend.value());
QVERIFY(n_rend.receivers().first()->disconnect(n_minus.emitters().first()));
// PLUS (ADDITION)
dtkComposerNodeNumberOperatorBinaryPlus n_plus;
QVERIFY(n_plus.receivers().first()->connect(n_r0.emitters().first()));
QVERIFY(n_plus.receivers().last()->connect( n_r1.emitters().first()));
QVERIFY(n_rend.receivers().first()->connect(n_plus.emitters().first()));
n_plus.run();
n_rend.run();
QCOMPARE((v_r0 + v_r1), n_rend.value());
QVERIFY(n_rend.receivers().first()->disconnect(n_plus.emitters().first()));
// MULTIPLICATION
dtkComposerNodeNumberOperatorBinaryMult n_mult;
QVERIFY(n_mult.receivers().first()->connect(n_r0.emitters().first()));
QVERIFY(n_mult.receivers().last()->connect( n_r1.emitters().first()));
QVERIFY(n_rend.receivers().first()->connect(n_mult.emitters().first()));
n_mult.run();
n_rend.run();
QCOMPARE((v_r0 * v_r1), n_rend.value());
QVERIFY(n_rend.receivers().first()->disconnect(n_mult.emitters().first()));
// RATIO (DIVISION)
dtkComposerNodeNumberOperatorBinaryRatio n_ratio;
QVERIFY(n_ratio.receivers().first()->connect(n_r0.emitters().first()));
QVERIFY(n_ratio.receivers().last()->connect( n_r1.emitters().first()));
QVERIFY(n_rend.receivers().first()->connect(n_ratio.emitters().first()));
n_ratio.run();
n_rend.run();
QCOMPARE((v_r0 / v_r1), n_rend.value());
QVERIFY(n_rend.receivers().first()->disconnect(n_ratio.emitters().first()));
// Nth ROOT
dtkComposerNodeNumberOperatorBinaryNthroot n_root;
QVERIFY(n_root.receivers().first()->connect(n_r0.emitters().first()));
QVERIFY(n_root.receivers().last()->connect( n_r1.emitters().first()));
QVERIFY(n_rend.receivers().first()->connect(n_root.emitters().first()));
n_root.run();
n_rend.run();
QCOMPARE(qPow(v_r0, 1. / v_r1), n_rend.value());
QVERIFY(n_rend.receivers().first()->disconnect(n_root.emitters().first()));
// POWER
dtkComposerNodeNumberOperatorBinaryPower n_pow;
QVERIFY(n_pow.receivers().first()->connect(n_r0.emitters().first()));
QVERIFY(n_pow.receivers().last()->connect( n_r1.emitters().first()));
QVERIFY(n_rend.receivers().first()->connect(n_pow.emitters().first()));
n_pow.run();
n_rend.run();
QCOMPARE(qPow(v_r0, v_r1), n_rend.value());
QVERIFY(n_rend.receivers().first()->disconnect(n_pow.emitters().first()));
}
void dtkComposerNodeTestCase::testNumberOperatorUnary(void)
{
double v_r = qAtan(1);
dtkComposerNodeReal n_r;
n_r.setValue(v_r);
n_r.run();
dtkComposerNodeReal n_end;
// INCREMENT
dtkComposerNodeNumberOperatorUnaryIncr n_incr;
QVERIFY(n_incr.receivers().first()->connect(n_r.emitters().first()));
QVERIFY(n_end.receivers().first()->connect(n_incr.emitters().first()));
n_incr.run();
n_end.run();
QCOMPARE((v_r + 1), n_end.value());
QVERIFY(n_end.receivers().first()->disconnect(n_incr.emitters().first()));
// DECREMENT
dtkComposerNodeNumberOperatorUnaryDecr n_decr;
QVERIFY(n_decr.receivers().first()->connect(n_r.emitters().first()));
QVERIFY(n_end.receivers().first()->connect(n_decr.emitters().first()));
n_decr.run();
n_end.run();
QCOMPARE((v_r - 1), n_end.value());
QVERIFY(n_end.receivers().first()->disconnect(n_decr.emitters().first()));
// SQRT
dtkComposerNodeNumberOperatorUnarySqrt n_sqrt;
QVERIFY(n_sqrt.receivers().first()->connect(n_r.emitters().first()));
QVERIFY(n_end.receivers().first()->connect(n_sqrt.emitters().first()));
n_sqrt.run();
n_end.run();
QCOMPARE(qSqrt(v_r), n_end.value());
QVERIFY(n_end.receivers().first()->disconnect(n_sqrt.emitters().first()));
// SQUARE
dtkComposerNodeNumberOperatorUnarySquare n_square;
QVERIFY(n_square.receivers().first()->connect(n_r.emitters().first()));
QVERIFY(n_end.receivers().first()->connect(n_square.emitters().first()));
n_square.run();
n_end.run();
QCOMPARE((v_r * v_r), n_end.value());
QVERIFY(n_end.receivers().first()->disconnect(n_square.emitters().first()));
// LN
dtkComposerNodeNumberOperatorUnaryLn n_ln;
QVERIFY(n_ln.receivers().first()->connect(n_r.emitters().first()));
QVERIFY(n_end.receivers().first()->connect(n_ln.emitters().first()));
n_ln.run();
n_end.run();
QCOMPARE(qLn(v_r), n_end.value());
QVERIFY(n_end.receivers().first()->disconnect(n_ln.emitters().first()));
// LOG10
dtkComposerNodeNumberOperatorUnaryLog10 n_log10;
QVERIFY(n_log10.receivers().first()->connect(n_r.emitters().first()));
QVERIFY(n_end.receivers().first()->connect(n_log10.emitters().first()));
n_log10.run();
n_end.run();
QCOMPARE(qLn(v_r)/qLn(10.), n_end.value());
QVERIFY(n_end.receivers().first()->disconnect(n_log10.emitters().first()));
// EXP
dtkComposerNodeNumberOperatorUnaryExp n_exp;
QVERIFY(n_exp.receivers().first()->connect(n_r.emitters().first()));
QVERIFY(n_end.receivers().first()->connect(n_exp.emitters().first()));
n_exp.run();
n_end.run();
QCOMPARE(qExp(v_r), n_end.value());
QVERIFY(n_end.receivers().first()->disconnect(n_exp.emitters().first()));
// COS
dtkComposerNodeNumberOperatorUnaryCos n_cos;
QVERIFY(n_cos.receivers().first()->connect(n_r.emitters().first()));
QVERIFY(n_end.receivers().first()->connect(n_cos.emitters().first()));
n_cos.run();
n_end.run();
QCOMPARE(qCos(v_r), n_end.value());
QVERIFY(n_end.receivers().first()->disconnect(n_cos.emitters().first()));
// SIN
dtkComposerNodeNumberOperatorUnarySin n_sin;
QVERIFY(n_sin.receivers().first()->connect(n_r.emitters().first()));
QVERIFY(n_end.receivers().first()->connect(n_sin.emitters().first()));
n_sin.run();
n_end.run();
QCOMPARE(qSin(v_r), n_end.value());
QVERIFY(n_end.receivers().first()->disconnect(n_sin.emitters().first()));
// TAN
dtkComposerNodeNumberOperatorUnaryTan n_tan;
QVERIFY(n_tan.receivers().first()->connect(n_r.emitters().first()));
QVERIFY(n_end.receivers().first()->connect(n_tan.emitters().first()));
n_tan.run();
n_end.run();
QCOMPARE(qTan(v_r), n_end.value());
QVERIFY(n_end.receivers().first()->disconnect(n_tan.emitters().first()));
// ACOS
dtkComposerNodeNumberOperatorUnaryAcos n_acos;
QVERIFY(n_acos.receivers().first()->connect(n_r.emitters().first()));
QVERIFY(n_end.receivers().first()->connect(n_acos.emitters().first()));
n_acos.run();
n_end.run();
QCOMPARE(qAcos(v_r), n_end.value());
QVERIFY(n_end.receivers().first()->disconnect(n_acos.emitters().first()));
// ASIN
dtkComposerNodeNumberOperatorUnaryAsin n_asin;
QVERIFY(n_asin.receivers().first()->connect(n_r.emitters().first()));
QVERIFY(n_end.receivers().first()->connect(n_asin.emitters().first()));
n_asin.run();
n_end.run();
QCOMPARE(qAsin(v_r), n_end.value());
QVERIFY(n_end.receivers().first()->disconnect(n_asin.emitters().first()));
// ATAN
dtkComposerNodeNumberOperatorUnaryAtan n_atan;
QVERIFY(n_atan.receivers().first()->connect(n_r.emitters().first()));
QVERIFY(n_end.receivers().first()->connect(n_atan.emitters().first()));
n_atan.run();
n_end.run();
QCOMPARE(qAtan(v_r), n_end.value());
QVERIFY(n_end.receivers().first()->disconnect(n_atan.emitters().first()));
// DEG2RAD
dtkComposerNodeNumberOperatorUnaryDeg2Rad n_d2r;
QVERIFY(n_d2r.receivers().first()->connect(n_r.emitters().first()));
QVERIFY(n_end.receivers().first()->connect(n_d2r.emitters().first()));
n_d2r.run();
n_end.run();
QCOMPARE((v_r * M_PI / 180.), n_end.value());
QVERIFY(n_end.receivers().first()->disconnect(n_d2r.emitters().first()));
// RAD2DEG
dtkComposerNodeNumberOperatorUnaryRad2Deg n_r2d;
QVERIFY(n_r2d.receivers().first()->connect(n_r.emitters().first()));
QVERIFY(n_end.receivers().first()->connect(n_r2d.emitters().first()));
n_r2d.run();
n_end.run();
QCOMPARE((v_r / M_PI * 180.), n_end.value());
QVERIFY(n_end.receivers().first()->disconnect(n_r2d.emitters().first()));
// INVERSE
dtkComposerNodeNumberOperatorUnaryInv n_inv;
QVERIFY(n_inv.receivers().first()->connect(n_r.emitters().first()));
QVERIFY(n_end.receivers().first()->connect(n_inv.emitters().first()));
n_inv.run();
n_end.run();
QCOMPARE((1. / v_r), n_end.value());
QVERIFY(n_end.receivers().first()->disconnect(n_inv.emitters().first()));
// OPPOSITE
dtkComposerNodeNumberOperatorUnaryOpp n_opp;
QVERIFY(n_opp.receivers().first()->connect(n_r.emitters().first()));
QVERIFY(n_end.receivers().first()->connect(n_opp.emitters().first()));
n_opp.run();
n_end.run();
QCOMPARE((-v_r), n_end.value());
QVERIFY(n_end.receivers().first()->disconnect(n_opp.emitters().first()));
// ABS
dtkComposerNodeNumberOperatorUnaryAbs n_abs;
QVERIFY(n_abs.receivers().first()->connect(n_r.emitters().first()));
QVERIFY(n_end.receivers().first()->connect(n_abs.emitters().first()));
n_abs.run();
n_end.run();
QCOMPARE(qAbs(v_r), n_end.value());
QVERIFY(n_end.receivers().first()->disconnect(n_abs.emitters().first()));
dtkComposerNodeInteger n_iend;
// CEIL
dtkComposerNodeNumberOperatorUnaryCeil n_ceil;
QVERIFY(n_ceil.receivers().first()->connect(n_r.emitters().first()));
QVERIFY(n_iend.receivers().first()->connect(n_ceil.emitters().first()));
n_ceil.run();
n_iend.run();
QCOMPARE(qCeil(v_r), static_cast<int>(n_iend.value()));
QVERIFY(n_iend.receivers().first()->disconnect(n_ceil.emitters().first()));
// FLOOR
dtkComposerNodeNumberOperatorUnaryFloor n_floor;
QVERIFY(n_floor.receivers().first()->connect(n_r.emitters().first()));
QVERIFY(n_iend.receivers().first()->connect(n_floor.emitters().first()));
n_floor.run();
n_iend.run();
QCOMPARE(qFloor(v_r), static_cast<int>(n_iend.value()));
QVERIFY(n_iend.receivers().first()->disconnect(n_floor.emitters().first()));
// ROUND
dtkComposerNodeNumberOperatorUnaryRound n_round;
QVERIFY(n_round.receivers().first()->connect(n_r.emitters().first()));
QVERIFY(n_iend.receivers().first()->connect(n_round.emitters().first()));
n_round.run();
n_iend.run();
QCOMPARE(qRound(v_r), static_cast<int>(n_iend.value()));
QVERIFY(n_iend.receivers().first()->disconnect(n_round.emitters().first()));
}
void Vehicle::show(QPainter &painter)
{
// Точки для рисования полигона
static QPointF polygonPoints[3];
if(body != NULL)
{
b2Vec2 position = body -> GetPosition();
float32 angle = body -> GetAngle();
for(int i = 0; i < pointsNum; ++i)
{
vehicleBrush.setColor(QColor(vectors[i].r, vectors[i].g, vectors[i].b));
painter.setBrush(vehicleBrush);
polygonPoints[0].setX((vectors[i].length * qCos(angle + vectors[i].angle) + position.x) * 100);
polygonPoints[0].setY((vectors[i].length * qSin(angle + vectors[i].angle) + position.y) * 100);
polygonPoints[1].setX((vectors[(i == pointsNum - 1) ? 0 : (i + 1)].length * qCos(angle + vectors[(i == pointsNum - 1) ? 0 : (i + 1)].angle) + position.x) * 100);
polygonPoints[1].setY((vectors[(i == pointsNum - 1) ? 0 : (i + 1)].length * qSin(angle + vectors[(i == pointsNum - 1) ? 0 : (i + 1)].angle) + position.y) * 100);
polygonPoints[2].setX((position.x) * 100);
polygonPoints[2].setY((position.y) * 100);
painter.drawPolygon(polygonPoints, 3);
}
// Рисование колёс
vehicleBrush.setColor(Qt::gray);
painter.setBrush(vehicleBrush);
int currentWheel = 0;
for(int i = 0; i < pointsNum; ++i)
{
if(vectors[i].wheel)
{
b2Vec2 position = wheelsBodies[currentWheel] -> GetPosition();
float32 angle = wheelsBodies[currentWheel] -> GetAngle();
float32 radius = vectors[i].radius;
painter.drawEllipse((position.x - radius) * 100, (position.y - radius) * 100, 200 * radius, 200 * radius);
painter.drawLine(position.x * 100, position.y * 100, (position.x + radius * cos(angle)) * 100, (position.y + radius * sin(angle)) * 100);
++currentWheel;
}
}
// Рисование пружин
b2Vec2 position1, position2;
float deltaLength;
float currentLength;
float springAngle;
currentWheel = 0;
for(int i = 0; i < pointsNum; ++i)
{
if(vectors[i].wheel)
{
position2 = wheelsBodies[currentWheel] -> GetPosition();
position1.Set(vectors[i].length * qCos(angle + vectors[i].angle) + position.x,
vectors[i].length * qSin(angle + vectors[i].angle) + position.y);
deltaLength = (position2 - position1).Length() / (springSegmentsNum + 2);
springAngle = qAtan((position2 - position1).y / (position2 - position1).x);
if((position2 - position1).x < 0.0f)
{
springAngle -= M_PI;
}
// Рисование части пружины возле машины
currentLength = deltaLength * 0.5 + vectors[i].length;
position2.Set(currentLength * qCos(angle + vectors[i].angle) + position.x,
currentLength * qSin(angle + vectors[i].angle) + position.y);
painter.drawLine(position1.x * 100, position1.y * 100, position2.x * 100, position2.y * 100);
currentLength += deltaLength * 0.5;
position1 = position2;
position2.x = qCos(springAngle) * deltaLength * 0.5 + qSin(springAngle) * springWidth * 0.5;
position2.y = qSin(springAngle) * deltaLength * 0.5 - qCos(springAngle) * springWidth * 0.5;
position2 += position1;
painter.drawLine(position1.x * 100, position1.y * 100, position2.x * 100, position2.y * 100);
position1 = position2;
position2.x = -qSin(springAngle) * springWidth;
position2.y = qCos(springAngle) * springWidth;
position2 += position1;
painter.drawLine(position1.x * 100, position1.y * 100, position2.x * 100, position2.y * 100);
for(int j = 0; j < springSegmentsNum; ++j)
{
position1 = position2;
currentLength += deltaLength;
position2.x = qCos(springAngle) * deltaLength + qSin(springAngle) * springWidth;
position2.y = qSin(springAngle) * deltaLength - qCos(springAngle) * springWidth;
position2 += position1;
painter.drawLine(position1.x * 100, position1.y * 100, position2.x * 100, position2.y * 100);
position1 = position2;
position2.x = -qSin(springAngle) * springWidth;
position2.y = qCos(springAngle) * springWidth;
position2 += position1;
painter.drawLine(position1.x * 100, position1.y * 100, position2.x * 100, position2.y * 100);
}
// Рисование части пружины возле колеса
position1 = position2;
currentLength += deltaLength;
position2.x = qCos(springAngle) * deltaLength * 0.5 + qSin(springAngle) * springWidth * 0.5;
position2.y = qSin(springAngle) * deltaLength * 0.5 - qCos(springAngle) * springWidth * 0.5;
position2 += position1;
painter.drawLine(position1.x * 100, position1.y * 100, position2.x * 100, position2.y * 100);
position1 = position2;
position2.x = qCos(springAngle) * deltaLength * 0.5;
position2.y = qSin(springAngle) * deltaLength * 0.5;
position2 += position1;
painter.drawLine(position1.x * 100, position1.y * 100, position2.x * 100, position2.y * 100);
++currentWheel;
}
}
} else {
for(int i = 0; i < bodyParts.size(); ++i)
{
vehicleBrush.setColor(QColor(vectors[i].r, vectors[i].g, vectors[i].b));
painter.setBrush(vehicleBrush);
b2Vec2 position = bodyParts[i] -> GetPosition();
float32 angle = bodyParts[i] -> GetAngle();
polygonPoints[0].setX((vectors[i].length * qCos(angle + vectors[i].angle) + position.x) * 100);
polygonPoints[0].setY((vectors[i].length * qSin(angle + vectors[i].angle) + position.y) * 100);
polygonPoints[1].setX((vectors[(i == pointsNum - 1) ? 0 : (i + 1)].length * qCos(angle + vectors[(i == pointsNum - 1) ? 0 : (i + 1)].angle) + position.x) * 100);
polygonPoints[1].setY((vectors[(i == pointsNum - 1) ? 0 : (i + 1)].length * qSin(angle + vectors[(i == pointsNum - 1) ? 0 : (i + 1)].angle) + position.y) * 100);
polygonPoints[2].setX((position.x) * 100);
polygonPoints[2].setY((position.y) * 100);
painter.drawPolygon(polygonPoints, 3);
}
// Рисование колёс
vehicleBrush.setColor(Qt::gray);
painter.setBrush(vehicleBrush);
int currentWheel = 0;
for(int j = 0; j < pointsNum; ++j)
{
if(vectors[j].wheel)
{
b2Vec2 position = wheelsBodies[currentWheel] -> GetPosition();
float32 angle = wheelsBodies[currentWheel] -> GetAngle();
float32 radius = vectors[j].radius;
painter.drawEllipse((position.x - radius) * 100, (position.y - radius) * 100, 200 * radius, 200 * radius);
painter.drawLine(position.x * 100, position.y * 100, (position.x + radius * cos(angle)) * 100, (position.y + radius * sin(angle)) * 100);
++currentWheel;
}
}
}
}
void Matrix::getRotation(const cv::Point &massCenter, EndoscopeData &angleBefore, EndoscopeData &angleAfter, EndoscopeData &motor) const
{
if(qSqrt(square(massCenter.x - center.x()) + square(massCenter.y - center.y())) <= 125*cols/1920) return;
EndoscopeData angle;
angle.rotation = qAtan(static_cast<double>(qAbs(massCenter.x-center.x()))/static_cast<double>(qAbs(massCenter.y-center.y()))) * 180/M_PI; //Angle_Rot
// Identifikation des Quadranten, in dem sich der POI befindet
if(massCenter.x >= center.x()) //rechte hälfte
{
if(massCenter.y <= center.y())
{ //rechts oben (1)
angleAfter.quadrant = 1;
//if (angleBefore.quadrant == 4 && qAbs(massCenter.y - center.y()) < 125*rows/1080) return;
angleAfter.rotation = angleBefore.rotation + angle.rotation/12;
if(angleAfter.rotation < -34) {
angleAfter.rotation = -34;
}
else if(angleAfter.rotation > 34) {
angleAfter.rotation = 34;
}
motor.rotation = -17.755*angleAfter.rotation + 2810;
}
else
{ //rechts unten (4)
angleAfter.quadrant = 4;
//if (angleBefore.quadrant == 1 && qAbs(massCenter.y - center.y()) < 125*rows/1080) return;
angleAfter.rotation = angleBefore.rotation - angle.rotation/12;
if(angleAfter.rotation < -34) {
angleAfter.rotation = -34;
}
else if(angleAfter.rotation > 34) {
angleAfter.rotation = 34;
}
motor.rotation = -17.755*angleAfter.rotation + 2810;
}
}
else //linke hälfte
{
if(massCenter.y <= center.y())
{ //links oben (2)
angleAfter.quadrant = 2;
//if (angleBefore.quadrant == 3 && qAbs(massCenter.y - center.y()) < 125*rows/1080) return;
angleAfter.rotation = angleBefore.rotation - angle.rotation/12;
if(angleAfter.rotation < -34) {
angleAfter.rotation = -34;
}
else if(angleAfter.rotation > 34) {
angleAfter.rotation = 34;
}
motor.rotation = -17.755*angleAfter.rotation + 2810;
}
else //links unten (3)
{
angleAfter.quadrant = 3;
//if (angleBefore.quadrant == 2 && qAbs(massCenter.y - center.y()) < 125*rows/1080) return;
angleAfter.rotation = angleBefore.rotation + angle.rotation/12;
if(angleAfter.rotation < -34) {
angleAfter.rotation = -34;
}
else if(angleAfter.rotation > 34) {
angleAfter.rotation = 34;
}
motor.rotation = -17.755*angleAfter.rotation + 2810;
}
}
angleBefore.rotation = angleAfter.rotation;
}
void dtkComposerNodeNumberOperatorUnaryAtan::run(void)
{
double *value = d->receiver.data<double>();
*value = qAtan(*value);
d->emitter.setData<double>(value);
}
return angle1 < angle2;
});
// 3) Compute the intersection
int i = 0;
foreach(QObject* line, lines) {
#ifdef CARPENTER_DEBUG
qDebug() << "SketchJoint: #" << i << ":" << line->property("identifier").toInt();
#endif
i++;
}
// List of vertices of the joint mesh
QList<QVector2D> vertices;
double preconditionAngle = qRadiansToDegrees(2*qAtan(SketchLine::radius/SketchLine::edgeShortcut));
#ifdef CARPENTER_DEBUG
qDebug() << "SketchJoint: preconditionAngle: " << preconditionAngle;
#endif
for(int lineIndex = 0; lineIndex < lines.size(); lineIndex++) {
/**
* Line 1 is characterized by A = (x1,y1) and B = (x2,y2)
* Line 2 is characterized by C = (x3,y3) and D = (x4,y4)
*/
QObject* line1 = lines.at(lineIndex);
QObject* line2 = lines.at((lineIndex + 1) % lines.size());
#ifdef CARPENTER_DEBUG
double CCD::getActualFOVy(Telescope *telescope, Lens *lens) const
{
const double lens_multipler = (lens != NULL ? lens->multipler() : 1.0f);
double fovY = RADIAN_TO_DEGREES * 2 * qAtan(this->chipWidth() /(2.0 * telescope->focalLength() * lens_multipler));
return fovY;
}
void SunMenuItemView::reinitializeDisplayedItemPosition()
{
qint32 maxWidth = width();
qint32 maxHeight;
QGraphicsItem* gi = displayedItem()->graphicsItem();
//default
gi->resetTransform();
// Calculate maxHeight as smaller chord(only for small sweepLengths)
if (sweepLength() <= 90)
{
qreal biggerChord = 2 * (innerRadius() + maxWidth)
* /*qAbs*/(qSin((M_PI / 180) * sweepLength() / 2));
qreal smallerChord = 2 * innerRadius()
* /*qAbs*/(qSin((M_PI / 180) * sweepLength() / 2));
maxHeight = (0.2 * smallerChord + 1.4 * biggerChord) / 2;
}
else
maxHeight = displayedItem()->maximumHeight();
//hide item if it too small
if (maxWidth < 10 || maxHeight < 5)
{
gi->hide();
return;
}
QRectF graphicsItemRect;
if (sweepLength() == 360 && innerRadius() == 0)
{
displayedItem()->setMaximumSize(2 * maxWidth /*diameter*/, maxHeight);
graphicsItemRect = gi->boundingRect();
gi->setPos(-graphicsItemRect.width() / 2,
-graphicsItemRect.height() / 2);
gi->show();
return;
}
displayedItem()->setMaximumSize(maxWidth - 10, maxHeight);
graphicsItemRect = gi->boundingRect();
/////////////////////////////////////////////////////////////////////////////////
//positioning mDisplayedItem (rotation and coordinates).
qreal rotationAngle = startAngle() + sweepLength() / 2;
// Getting distance and angle (polar coordinates) + some centering adjustments
// We assume that (0,0) item's coordinate is it's top left corner
//(like QGraphicsSimpleTextItem and QGraphicsProxyWidget).
qreal angle, distance;
if (rotationAngle >= 270 || rotationAngle <= 90)
{
distance = innerRadius() + maxWidth / 2 - graphicsItemRect.width() / 2;
angle = rotationAngle
+ (180 / M_PI)
* qAtan(graphicsItemRect.height() / (2 * distance));
}
else
{
distance = innerRadius() + maxWidth / 2 + graphicsItemRect.width() / 2;
angle = rotationAngle
- (180 / M_PI)
* qAtan(graphicsItemRect.height() / (2 * distance));
rotationAngle -= 180;
}
gi->setPos(distance * qCos((M_PI / 180) * angle),
-distance * qSin((M_PI / 180) * angle));
gi->setRotation(-rotationAngle); //minus - because this function rotates clockwise.
gi->show();
///////////////////////////////////////////////////////////////////////////////////
}
void Matrix::getRotationAndBending(const cv::Point &massCenter, EndoscopeData &angleBefore, EndoscopeData &angleAfter, EndoscopeData &motor) const
{
if(qSqrt(square(massCenter.x - center.x()) + square(massCenter.y - center.y())) >= 125*cols/1920) return;
EndoscopeData angle;
angle.rotation = qAtan(static_cast<double>(qAbs(massCenter.x-center.x()))/static_cast<double>(qAbs(massCenter.y-center.y()))) * 180/M_PI; //Angle_Rot
// Identifikation des Quadranten, in dem sich der POI befindet
if(massCenter.x >= center.x()) //rechte hälfte
{
if(massCenter.y <= center.y())
{ //rechts oben (1)
angleAfter.quadrant = 1;
if (angleBefore.quadrant == 4 && qAbs(massCenter.y - center.y()) < 125*rows/1080) return;
angleAfter.rotation = angleBefore.rotation + angle.rotation/3;
if(angleAfter.rotation < -34) {
angleAfter.rotation = -34;
}
else if(angleAfter.rotation > 34) {
angleAfter.rotation = 34;
}
motor.rotation = -17.755*angleAfter.rotation + 2810;
}
else
{ //rechts unten (4)
angleAfter.quadrant = 4;
if (angleBefore.quadrant == 1 && qAbs(massCenter.y - center.y()) < 125*rows/1080) return;
angleAfter.rotation = angleBefore.rotation - angle.rotation/3;
if(angleAfter.rotation < -34) {
angleAfter.rotation = -34;
}
else if(angleAfter.rotation > 34) {
angleAfter.rotation = 34;
}
motor.rotation = -17.755*angleAfter.rotation + 2810;
}
}
else //linke hälfte
{
if(massCenter.y <= center.y())
{ //links oben (2)
angleAfter.quadrant = 2;
if (angleBefore.quadrant == 3 && qAbs(massCenter.y - center.y()) < 125*rows/1080) return;
angleAfter.rotation = angleBefore.rotation - angle.rotation/3;
if(angleAfter.rotation < -34) {
angleAfter.rotation = -34;
}
else if(angleAfter.rotation > 34) {
angleAfter.rotation = 34;
}
motor.rotation = -17.755*angleAfter.rotation + 2810;
}
else //links unten (3)
{
angleAfter.quadrant = 3;
if (angleBefore.quadrant == 2 && qAbs(massCenter.y - center.y()) < 125*rows/1080) return;
angleAfter.rotation = angleBefore.rotation + angle.rotation/3;
if(angleAfter.rotation < -34) {
angleAfter.rotation = -34;
}
else if(angleAfter.rotation > 34) {
angleAfter.rotation = 34;
}
motor.rotation = -17.755*angleAfter.rotation + 2810;
}
}
int alpha = angleBefore.rotation - angleAfter.rotation;
double k = 900; //Koeffizent für Abstand zwischen Endoskop und Nasenhöhle
double y = qAbs(qSin((alpha+90)*M_PI/180.0)*(massCenter.x-center.x()) + cos((alpha+90)*M_PI/180.0)*(center.y()-massCenter.y));
angle.bending = qAtan(y/k) * 180.0/M_PI; //Substitute with calculation(absolute value)
switch (angleAfter.quadrant) {
case 1:
angleAfter.bending = angleBefore.bending - angle.bending;
if(angleAfter.bending < -60)
{
angleAfter.bending = -60;
}
else if(angleAfter.bending > 60)
{
angleAfter.bending = 60;
}
motor.bending = 5.75*angleAfter.bending + 2384;
break;
case 2:
angleAfter.bending = angleBefore.bending - angle.bending;
if(angleAfter.bending < -60)
{
angleAfter.bending = -60;
}
else if(angleAfter.bending > 60)
{
angleAfter.bending = 60;
}
motor.bending = 5.75*angleAfter.bending + 2384;
break;
case 3:
angleAfter.bending = angleBefore.bending + angle.bending;
if(angleAfter.bending < -60)
{
angleAfter.bending = -60;
}
else if(angleAfter.bending > 60)
{
angleAfter.bending = 60;
}
motor.bending = 5.432*angleAfter.bending + 2415;
break;
case 4:
angleAfter.bending = angleBefore.bending + angle.bending;
if(angleAfter.bending < -60)
{
angleAfter.bending = -60;
}
else if(angleAfter.bending > 60)
{
angleAfter.bending = 60;
}
motor.bending = 5.432*angleAfter.bending + 2415;
break;
default:
break;
}
angleBefore = angleAfter;
}
void Matrix::getBending(const cv::Point &massCenter, EndoscopeData &angleBefore, EndoscopeData &angleAfter, EndoscopeData &motor) const
{
if(qSqrt(square(massCenter.x - center.x()) + square(massCenter.y - center.y())) <= 125*cols/1920) return;
double k = 2000; //Koeffizent für Abstand zwischen Endoskop und Nasenhöhle
EndoscopeData angle;
angle.bending = qAtan(static_cast<double>(qAbs(massCenter.y - center.y()))/k) * 180.0/M_PI; //Angle_Bend
// Identifikation des Quadranten, in dem sich der POI befindet
if(massCenter.x >= center.x()) //rechte hälfte
{
if(massCenter.y <= center.y()) //rechts oben(1)
{
angleAfter.quadrant = 1;
if (angleBefore.quadrant == 4 && qAbs(massCenter.y - center.y()) < 125*rows/1080) return;
angleAfter.bending = angleBefore.bending - angle.bending;
if(angleAfter.bending < -60)
{
angleAfter.bending = -60;
}
else if(angleAfter.bending > 60)
{
angleAfter.bending = 60;
}
motor.bending = 5.75*angleAfter.bending + 2384;
}
else //rechts unten(4)
{
angleAfter.quadrant = 4;
if (angleBefore.quadrant == 1 && qAbs(massCenter.y - center.y()) < 125*rows/1080) return;
angleAfter.bending = angleBefore.bending + angle.bending;
if(angleAfter.bending < -60)
{
angleAfter.bending = -60;
}
else if(angleAfter.bending > 60)
{
angleAfter.bending = 60;
}
motor.bending = 5.432*angleAfter.bending + 2415;
}
}
else //linke hälfte
{
if(massCenter.y <= center.y()) //links oben(2)
{
angleAfter.quadrant = 2;
if (angleBefore.quadrant == 3 && qAbs(massCenter.y - center.y()) < 125*rows/1080) return;
angleAfter.bending = angleBefore.bending - angle.bending;
if(angleAfter.bending < -60)
{
angleAfter.bending = -60;
}
else if(angleAfter.bending > 60)
{
angleAfter.bending = 60;
}
motor.bending = 5.75*angleAfter.bending + 2384;
}
else //links unten(3)
{
angleAfter.quadrant = 3;
if (angleBefore.quadrant == 2 && qAbs(massCenter.y - center.y()) < 125*rows/1080) return;
angleAfter.bending = angleBefore.bending + angle.bending;
if(angleAfter.bending < -60)
{
angleAfter.bending = -60;
}
else if(angleAfter.bending > 60)
{
angleAfter.bending = 60;
}
motor.bending = 5.432*angleAfter.bending + 2415;
}
}
angleBefore = angleAfter;
}
void dtkComposerNodeTestCase::testNumberComparator(void)
{
double v_0 = 4. * qAtan(1.);
double v_1 = 4. * qAtan(1.) + 0.00000000000001 ;
dtkComposerNodeReal n_0;
dtkComposerNodeReal n_1;
n_0.setValue(v_0);
n_1.setValue(v_1);
n_0.run();
n_1.run();
dtkComposerNodeBoolean n_end;
// EQUAL
dtkComposerNodeNumberComparatorEqual n_equal;
QVERIFY(n_equal.receivers().first()->connect(n_0.emitters().first()));
QVERIFY(n_equal.receivers().last()->connect( n_1.emitters().first()));
QVERIFY(n_end.receivers().first()->connect(n_equal.emitters().first()));
n_equal.run();
n_end.run();
QCOMPARE((v_0 == v_1), n_end.value());
QVERIFY(n_end.receivers().first()->disconnect(n_equal.emitters().first()));
// NOT EQUAL
dtkComposerNodeNumberComparatorNotequal n_notequal;
QVERIFY(n_notequal.receivers().first()->connect(n_0.emitters().first()));
QVERIFY(n_notequal.receivers().last()->connect( n_1.emitters().first()));
QVERIFY(n_end.receivers().first()->connect(n_notequal.emitters().first()));
n_notequal.run();
n_end.run();
QCOMPARE((v_0 != v_1), n_end.value());
QVERIFY(n_end.receivers().first()->disconnect(n_notequal.emitters().first()));
// GREATER THAN
dtkComposerNodeNumberComparatorGt n_gt;
QVERIFY(n_gt.receivers().first()->connect(n_0.emitters().first()));
QVERIFY(n_gt.receivers().last()->connect( n_1.emitters().first()));
QVERIFY(n_end.receivers().first()->connect(n_gt.emitters().first()));
n_gt.run();
n_end.run();
QCOMPARE((v_0 > v_1), n_end.value());
QVERIFY(n_end.receivers().first()->disconnect(n_gt.emitters().first()));
// LESSER THAN
dtkComposerNodeNumberComparatorLt n_lt;
QVERIFY(n_lt.receivers().first()->connect(n_0.emitters().first()));
QVERIFY(n_lt.receivers().last()->connect( n_1.emitters().first()));
QVERIFY(n_end.receivers().first()->connect(n_lt.emitters().first()));
n_lt.run();
n_end.run();
QCOMPARE((v_0 < v_1), n_end.value());
QVERIFY(n_end.receivers().first()->disconnect(n_lt.emitters().first()));
// GREATER THAN OR EQUAL
dtkComposerNodeNumberComparatorGte n_gte;
QVERIFY(n_gte.receivers().first()->connect(n_0.emitters().first()));
QVERIFY(n_gte.receivers().last()->connect( n_1.emitters().first()));
QVERIFY(n_end.receivers().first()->connect(n_gte.emitters().first()));
n_gte.run();
n_end.run();
QCOMPARE((v_0 >= v_1), n_end.value());
QVERIFY(n_end.receivers().first()->disconnect(n_gte.emitters().first()));
// LESSER THAN OR EQUAL
dtkComposerNodeNumberComparatorLte n_lte;
QVERIFY(n_lte.receivers().first()->connect(n_0.emitters().first()));
QVERIFY(n_lte.receivers().last()->connect( n_1.emitters().first()));
QVERIFY(n_end.receivers().first()->connect(n_lte.emitters().first()));
n_lte.run();
n_end.run();
QCOMPARE((v_0 <= v_1), n_end.value());
QVERIFY(n_end.receivers().first()->disconnect(n_lte.emitters().first()));
}
/*********************************************************************************
* Function: get the keypoints of end-arrow.
* Parameters: k, end-point, key-point1, key-point2
* Return: none
********************************************************************************/
void SamDrawItemBase::getEndArrowKeypoints(const qreal &dK, const QPointF &qpEndPt,
LINE_KEY_POINT_T &stKeyppoints, const qreal dXdirect, const qreal dYdirect)
{
const qreal dL = 12.0;
qreal dKFactor = 0.0;
qreal dVAngle = 0.0;
const qreal dDelta = 0.01;
QPointF qpKpt0, qpKpt1, qpKpt2, qpKpt3, qpKpt4, qpKpt5;
/*K factor -1 or +1*/
if (qFabs(dK) > 0)
{
dKFactor = qFabs(dK) / dK;
}
else
{
dKFactor = 1.0;
}
/*The angle according to K value*/
qreal dAngle = qAtan(dK);
/*Calculate the key point0*/
if (dKFactor > 0)
{
qpKpt0.rx() = qpEndPt.x() - dKFactor * dXdirect * (dL * qCos(dAngle));
qpKpt0.ry() = qpEndPt.y() - dKFactor * dYdirect * (dL * qSin(dAngle));
}
else
{
qpKpt0.rx() = qpEndPt.x() + dKFactor * dXdirect * (dL * qCos(dAngle));
qpKpt0.ry() = qpEndPt.y() - dKFactor * dYdirect * (dL * qSin(dAngle));
}
/*The angle according to the K value of vertical line*/
if (dK >= 99999)
{
dVAngle = 90;
}
else if (dK > dDelta || dK < -dDelta)
{
dVAngle = qAtan(-1 / dK);
}
else if (dK > -dDelta && dK < dDelta)
{
dVAngle = 0;
}
/*Calculate the key point1 and key point2*/
qpKpt1.rx() = qpKpt0.x() - ((dL/2) * qCos(dVAngle));
qpKpt1.ry() = qpKpt0.y() - ((dL/2) * qSin(dVAngle));
qpKpt2.rx() = qpKpt0.x() + ((dL/2) * qCos(dVAngle));
qpKpt2.ry() = qpKpt0.y() + ((dL/2) * qSin(dVAngle));
QPointF qpCenter;
qpCenter.rx() = (qpEndPt.x() + qpKpt0.x()) / 2;
qpCenter.ry() = (qpEndPt.y() + qpKpt0.y()) / 2;
/*
qpKpt3.rx() = qpCenter.x() - ((2*dL/3) * qCos(dVAngle));
qpKpt3.ry() = qpCenter.y() - ((2*dL/3) * qSin(dVAngle));
qpKpt4.rx() = qpCenter.x() + ((2*dL/3) * qCos(dVAngle));
qpKpt4.ry() = qpCenter.y() + ((2*dL/3) * qSin(dVAngle));
*/
qpKpt3.rx() = qpCenter.x() - (dL * qCos(dVAngle));
qpKpt3.ry() = qpCenter.y() - (dL * qSin(dVAngle));
qpKpt4.rx() = qpCenter.x() + (dL * qCos(dVAngle));
qpKpt4.ry() = qpCenter.y() + (dL * qSin(dVAngle));
qpKpt5.rx() = (qpCenter.x() + qpKpt0.x()) / 2;
qpKpt5.ry() = (qpCenter.y() + qpKpt0.y()) / 2;
stKeyppoints.qpKeyPoint0 = qpKpt0;
stKeyppoints.qpKeyPoint1 = qpKpt1;
stKeyppoints.qpKeyPoint2 = qpKpt2;
stKeyppoints.qpKeyPoint3 = qpKpt3;
stKeyppoints.qpKeyPoint4 = qpKpt4;
stKeyppoints.qpKeyPoint5 = qpKpt5;
}
struct myRect toolpath::trackToMyRect(struct track t, qint64 offset)
{
struct myRect r;
QPoint p1;
double k,ki;
double angle;
t.width+=offset;
if((t.pointend.x()-t.pointstart.x())==0)//vertical track
{
p1.setX(t.width/2);
p1.setY(0);
if(t.pointend.y()>t.pointstart.y())
{
r.p1=t.pointstart-p1;
r.p2=t.pointend-p1;
r.p3=t.pointend+p1;
r.p4=t.pointstart+p1;
}
else
{
r.p1=t.pointstart+p1;
r.p2=t.pointend+p1;
r.p3=t.pointend-p1;
r.p4=t.pointstart-p1;
}
}
else if((t.pointend.y()-t.pointstart.y())==0)//horizontal track
{
p1.setX(0);
p1.setY(t.width/2);
if(t.pointend.x()>t.pointstart.x())
{
r.p1=t.pointstart+p1;
r.p2=t.pointend+p1;
r.p3=t.pointend-p1;
r.p4=t.pointstart-p1;
}
else
{
r.p1=t.pointstart-p1;
r.p2=t.pointend-p1;
r.p3=t.pointend+p1;
r.p4=t.pointstart+p1;
}
}
else
{
k=(t.pointend.y()-t.pointstart.y())*1.0/(t.pointend.x()-t.pointstart.x());
ki=-1/k;
angle=qAtan(ki);
//if(angle<0)
//angle+=3.1415926;//3.1415926
p1.setX(t.width/2*qCos(angle));
p1.setY(t.width/2*qSin(angle));
if(t.pointstart.y()>t.pointend.y())
{
r.p1=t.pointstart+p1;
r.p2=t.pointend+p1;
r.p3=t.pointend-p1;
r.p4=t.pointstart-p1;
}
else
{
r.p1=t.pointstart-p1;
r.p2=t.pointend-p1;
r.p3=t.pointend+p1;
r.p4=t.pointstart+p1;
}
}
return r;
}
void QFilter::MakeWindow(int wtype, int size, float *window) {
int i, j, midn, midp1, midm1;
float freq, rate, sr1, angle, expn, expsum, cx, two_pi;
midn = size / 2;
midp1 = (size + 1) / 2;
midm1 = (size - 1) / 2;
two_pi = 8.0f * qAtan(1.0);
freq = two_pi / size;
rate = 1.0 / midn;
angle = 0.0;
expn = log(2.0) / midn + 1.0;
expsum = 1.0;
switch (wtype) {
case 1: // RECTANGULAR_WINDOW
for (i = 0; i < size; i++)
window[i] = 1.0;
break;
case 2: // HANNING_WINDOW
for (i = 0, j = size - 1, angle = 0.0; i <= midn; i++, j--, angle += freq)
window[j] = (window[i] = 0.5 - 0.5 * cos(angle));
break;
case 3: // WELCH_WINDOW
for (i = 0, j = size - 1; i <= midn; i++, j--)
window[j] = (window[i] = 1.0 - (float)sqrt((float)((i - midm1) / midp1)));
break;
case 4: // PARZEN_WINDOW
for (i = 0, j = size - 1; i <= midn; i++, j--)
window[j] = (window[i] = 1.0 - ((float)fabs((float)(i - midm1) / midp1)));
break;
case 5: // BARTLETT_WINDOW
for (i = 0, j = size - 1, angle = 0.0; i <= midn; i++, j--, angle += rate)
window[j] = (window[i] = angle);
break;
case 6: // HAMMING_WINDOW
for (i = 0, j = size - 1, angle = 0.0; i <= midn; i++, j--, angle += freq)
window[j] = (window[i] = 0.5F - 0.46 * cos(angle));
break;
case 7: // BLACKMAN2_WINDOW
for (i = 0, j = size - 1, angle = 0.0; i <= midn; i++, j--, angle += freq) {
cx = cos(angle);
window[j] = (window[i] = (.34401 + (cx * (-.49755 + (cx * .15844)))));
}
break;
case 8: // BLACKMAN3_WINDOW
for (i = 0, j = size - 1, angle = 0.0; i <= midn; i++, j--, angle += freq) {
cx = cos(angle);
window[j] = (window[i] = (.21747 + (cx * (-.45325 + (cx * (.28256 - (cx * .04672)))))));
}
break;
case 9: // BLACKMAN4_WINDOW
for (i = 0, j = size - 1, angle = 0.0; i <= midn; i++, j--, angle += freq)
{
cx = cos(angle);
window[j] = (window[i] =
(.084037 +
(cx *
(-.29145 +
(cx *
(.375696 + (cx * (-.20762 + (cx * .041194)))))))));
}
break;
case 10: // EXPONENTIAL_WINDOW
for (i = 0, j = size - 1; i <= midn; i++, j--) {
window[j] = (window[i] = expsum - 1.0);
expsum *= expn;
}
break;
case 11: // RIEMANN_WINDOW
sr1 = two_pi / size;
for (i = 0, j = size - 1; i <= midn; i++, j--) {
if (i == midn) window[j] = (window[i] = 1.0);
else {
cx = sr1 * (midn - i);
window[i] = sin(cx) / cx;
window[j] = window[i];
}
}
break;
case 12: // BLACKMANHARRIS_WINDOW
{
float
a0 = 0.35875f,
a1 = 0.48829f,
a2 = 0.14128f,
a3 = 0.01168f;
for (i = 0; i < size; i++)
{
window[i] = a0 - a1* qCos(TWOPI * (i+0.5)/size)
+ a2* qCos(2.0 * TWOPI * (i+0.5)/size)
- a3* qCos(3.0 * TWOPI * (i+0.5)/size);
}
}
break;
default:
return;
}
}
qreal PI()
{
return 4 * qAtan(1);
}
