int maindo1(){
MTRand53 mt(1234);
BiasingPotential Ut(-5,5,100,1000);
unsigned long n=0;
double x=0;
double E=tempE(x)+ Ut.getBiasingE(x);
for (n=0;n<1000000;n++){
double dx=(mt()-.5)*2.*0.1;
double newx=x+dx;
double newE=tempE(newx)+ Ut.getBiasingE(newx);
if (newE<E){
x=newx;E=newE;
}
else{
double temp=mt();
if (temp<exp(-newE+E)){
x=newx;
E=newE;
}
}
Ut.collect(x);
if (n % 100000==0)
Ut.pickle("testAF.txt");
}
return 0;
}
bool multiArrayMessageCopyToMatrixEigen(const MultiArrayMessageType_& m, EigenType_& e)
{
if (e.IsRowMajor != isRowMajor(m)) {
ROS_ERROR("multiArrayMessageToMatrixEigen() failed because the storage order is not compatible.");
return false;
}
EigenType_ tempE(getRows(m), getCols(m));
tempE = Eigen::Map<const EigenType_>(m.data.data(), getRows(m), getCols(m));
e = tempE;
return true;
}
