int main(int argc, char* argv[])
{
// first param is dimension
// second param is number of points
int d = 4;
int n = 100;
int range = 100;
unsigned which(255);
if (argc > 1 && std::string(argv[1])=="-h") {
std::cout << "usage: " << argv[0] << " [which] [dim] [#points] [range]\n";
std::cout << " which=0 create testset in "<<argv[0]<<".ch\n" ;
std::cout << " which=1 double cartesian\n" ;
std::cout << " which=2 double homogeneous\n" ;
std::cout << " which=4 LEDA integer homogeneous\n" ;
std::cout << " which=8 GNU mpz homogeneous\n" ;
std::cout << " which=16 LEDA real cartesian\n" ;
std::exit(1);
}
if (argc > 1) which = std::atoi(argv[1]);
if (argc > 2) d = std::atoi(argv[2]);
if (argc > 3) n = std::atoi(argv[3]);
if (argc > 4) range = std::atoi(argv[4]);
p_table_file = new std::ofstream(
(std::string(argv[0])+".rts").c_str(), std::ios::app);
int** V;
if ( which == 0 ) {
create(V,n,d);
random_d_tuples_in_range(V,n,d,-range,range);
print_to_file(V,n,d,std::string(argv[0])+".ch");
std::exit(0);
} else {
read_from_file(V,n,d,std::string(argv[0])+".ch");
}
if ( which & 1 ) {
DCConvex_hull_d DCC(d);
time_insertion_and_check(V,n,d,DCC,"double cartesian ");
}
if ( which & 2 ) {
DHConvex_hull_d DHC(d);
time_insertion_and_check(V,n,d,DHC,"double homogeneous ");
}
#ifdef CGAL_USE_LEDA
if ( which & 4 ) {
LHConvex_hull_d LHC(d);
time_insertion_and_check(V,n,d,LHC,"LEDA integer homogeneous");
}
#endif
#ifdef CGAL_USE_GMP
if ( which & 8 ) {
GConvex_hull_d GC(d);
time_insertion_and_check(V,n,d,GC,"GNU mpz homogeneous ");
}
#endif
#ifdef CGAL_USE_LEDA
if ( which & 16 ) {
LCConvex_hull_d LCC(d);
time_insertion_and_check(V,n,d,LCC,"LEDA real cartesian ",false);
}
#endif
#ifdef CGAL_USE_LEDA
#if defined(LEDA_NAMESPACE)
std::cout << "leda::print_statistics() is missing in the free edition" << std::endl;
// leda::print_statistics();
#else
// print_statistics();
#endif
#endif
destroy(V,n);
return 0;
}
Module::ReturnType SubgraphUpwardPlanarizer::doCall(UpwardPlanRep &UPR,
const EdgeArray<int> &cost,
const EdgeArray<bool> &forbid)
{
const Graph &G = UPR.original();
GraphCopy GC(G);
//reverse some edges in order to obtain a DAG
List<edge> feedBackArcSet;
m_acyclicMod.get().call(GC, feedBackArcSet);
for(edge e : feedBackArcSet) {
GC.reverseEdge(e);
}
OGDF_ASSERT(isSimple(G));
//mapping cost
EdgeArray<int> cost_GC(GC);
for(edge e : GC.edges) {
if (forbid[GC.original(e)])
cost_GC[e] = numeric_limits<int>::max();
else
cost_GC[e] = cost[GC.original(e)];
}
// tranform to single source graph by adding a super source s_hat and connect it with the other sources
EdgeArray<bool> sourceArcs(GC, false);
node s_hat = GC.newNode();
for(node v : GC.nodes) {
if (v->indeg() == 0 && v != s_hat) {
edge e_tmp = GC.newEdge(s_hat, v);
cost_GC[e_tmp] = 0; // crossings source arcs cause not cost
sourceArcs[e_tmp] = true;
}
}
/*
//------------------------------------------------debug
GraphAttributes AG_GC(GC, GraphAttributes::nodeGraphics|
GraphAttributes::edgeGraphics|
GraphAttributes::nodeColor|
GraphAttributes::edgeColor|
GraphAttributes::nodeLabel|
GraphAttributes::edgeLabel
);
AG_GC.setAllHeight(30.0);
AG_GC.setAllWidth(30.0);
for(node z : AG_GC.constGraph().nodes) {
AG_GC.label(z) = to_string(z->index());
}
AG_GC.writeGML("c:/temp/GC.gml");
// --------------------------------------------end debug
*/
BCTree BC(GC);
const Graph &bcTree = BC.bcTree();
GraphCopy G_dummy;
G_dummy.createEmpty(G);
NodeArray<GraphCopy> biComps(bcTree, G_dummy); // bicomps of G; init with an empty graph
UpwardPlanRep UPR_dummy;
UPR_dummy.createEmpty(G);
NodeArray<UpwardPlanRep> uprs(bcTree, UPR_dummy); // the upward planarized representation of the bicomps; init with an empty UpwarPlanRep
constructComponentGraphs(BC, biComps);
for(node v : bcTree.nodes) {
if (BC.typeOfBNode(v) == BCTree::CComp)
continue;
GraphCopy &block = biComps[v];
OGDF_ASSERT(m_subgraph.valid());
// construct a super source for this block
node s, s_block;
hasSingleSource(block, s);
s_block = block.newNode();
block.newEdge(s_block, s); //connect s
UpwardPlanRep bestUPR;
//upward planarize if not upward planar
if (!UpwardPlanarity::upwardPlanarEmbed_singleSource(block)) {
for (int i = 0; i < m_runs; i++) {// i multistarts
UpwardPlanRep UPR_tmp;
UPR_tmp.createEmpty(block);
List<edge> delEdges;
m_subgraph.get().call(UPR_tmp, delEdges);
OGDF_ASSERT( isSimple(UPR_tmp) );
UPR_tmp.augment();
//mark the source arcs of block
UPR_tmp.m_isSourceArc[UPR_tmp.copy(s_block->firstAdj()->theEdge())] = true;
for (adjEntry adj_tmp : UPR_tmp.copy(s_block->firstAdj()->theEdge()->target())->adjEntries) {
edge e_tmp = UPR_tmp.original(adj_tmp->theEdge());
if (e_tmp != nullptr && block.original(e_tmp) != nullptr && sourceArcs[block.original(e_tmp)])
UPR_tmp.m_isSourceArc[adj_tmp->theEdge()] = true;
}
//assign "crossing cost"
EdgeArray<int> cost_Block(block);
for (edge e : block.edges) {
if (block.original(e) == nullptr || GC.original(block.original(e)) == nullptr)
cost_Block[e] = 0;
else
cost_Block[e] = cost_GC[block.original(e)];
}
/*
if (false) {
//---------------------------------------------------debug
LayerBasedUPRLayout uprLayout;
UpwardPlanRep upr_bug(UPR_tmp.getEmbedding());
adjEntry adj_bug = upr_bug.getAdjEntry(upr_bug.getEmbedding(), upr_bug.getSuperSource(), upr_bug.getEmbedding().externalFace());
node s_upr_bug = upr_bug.newNode();
upr_bug.getEmbedding().splitFace(s_upr_bug, adj_bug);
upr_bug.m_isSourceArc.init(upr_bug, false);
upr_bug.m_isSourceArc[s_upr_bug->firstAdj()->theEdge()] = true;
upr_bug.s_hat = s_upr_bug;
upr_bug.augment();
GraphAttributes GA_UPR_tmp(UPR_tmp, GraphAttributes::nodeGraphics|
GraphAttributes::edgeGraphics|
GraphAttributes::nodeColor|
GraphAttributes::edgeColor|
GraphAttributes::nodeLabel|
GraphAttributes::edgeLabel
);
GA_UPR_tmp.setAllHeight(30.0);
GA_UPR_tmp.setAllWidth(30.0);
uprLayout.call(upr_bug, GA_UPR_tmp);
// label the nodes with their index
for(node z : GA_UPR_tmp.constGraph().nodes) {
GA_UPR_tmp.label(z) = to_string(z->index());
GA_UPR_tmp.y(z)=-GA_UPR_tmp.y(z);
GA_UPR_tmp.x(z)=-GA_UPR_tmp.x(z);
}
for(edge eee : GA_UPR_tmp.constGraph().edges) {
DPolyline &line = GA_UPR_tmp.bends(eee);
ListIterator<DPoint> it;
for(it = line.begin(); it.valid(); it++) {
(*it).m_y = -(*it).m_y;
(*it).m_x = -(*it).m_x;
}
}
GA_UPR_tmp.writeGML("c:/temp/UPR_tmp_fups.gml");
cout << "UPR_tmp/fups faces:";
UPR_tmp.outputFaces(UPR_tmp.getEmbedding());
//end -----------------------------------------------debug
}
*/
delEdges.permute();
m_inserter.get().call(UPR_tmp, cost_Block, delEdges);
if (i != 0) {
if (UPR_tmp.numberOfCrossings() < bestUPR.numberOfCrossings()) {
//cout << endl << "new cr_nr:" << UPR_tmp.numberOfCrossings() << " old cr_nr : " << bestUPR.numberOfCrossings() << endl;
bestUPR = UPR_tmp;
}
}
else
bestUPR = UPR_tmp;
}//for
}
else { //block is upward planar
CombinatorialEmbedding Gamma(block);
FaceSinkGraph fsg((const CombinatorialEmbedding &) Gamma, s_block);
SList<face> faceList;
fsg.possibleExternalFaces(faceList);
Gamma.setExternalFace(faceList.front());
UpwardPlanRep UPR_tmp(Gamma);
UPR_tmp.augment();
//mark the source arcs of block
UPR_tmp.m_isSourceArc[UPR_tmp.copy(s->firstAdj()->theEdge())] = true;
for (adjEntry adj_tmp : UPR_tmp.copy(s->firstAdj()->theEdge()->target())->adjEntries) {
edge e_tmp = UPR_tmp.original(adj_tmp->theEdge());
if (e_tmp != nullptr && block.original(e_tmp) != nullptr && sourceArcs[block.original(e_tmp)])
UPR_tmp.m_isSourceArc[adj_tmp->theEdge()] = true;
}
bestUPR = UPR_tmp;
/*
//debug
//---------------------------------------------------debug
GraphAttributes GA_UPR_tmp(UPR_tmp, GraphAttributes::nodeGraphics|
GraphAttributes::edgeGraphics|
GraphAttributes::nodeColor|
GraphAttributes::edgeColor|
GraphAttributes::nodeLabel|
GraphAttributes::edgeLabel
);
GA_UPR_tmp.setAllHeight(30.0);
GA_UPR_tmp.setAllWidth(30.0);
// label the nodes with their index
for(node z : GA_UPR_tmp.constGraph().nodes) {
GA_UPR_tmp.label(z) = to_string(z->index());
GA_UPR_tmp.y(z)=-GA_UPR_tmp.y(z);
GA_UPR_tmp.x(z)=-GA_UPR_tmp.x(z);
}
for(edge eee : GA_UPR_tmp.constGraph().edges) {
DPolyline &line = GA_UPR_tmp.bends(eee);
ListIterator<DPoint> it;
for(it = line.begin(); it.valid(); it++) {
(*it).m_y = -(*it).m_y;
(*it).m_x = -(*it).m_x;
}
}
GA_UPR_tmp.writeGML("c:/temp/UPR_tmp_fups.gml");
cout << "UPR_tmp/fups faces:";
UPR_tmp.outputFaces(UPR_tmp.getEmbedding());
//end -----------------------------------------------debug
*/
}
uprs[v] = bestUPR;
}
// compute the number of crossings
int nr_cr = 0;
for(node v : bcTree.nodes) {
if (BC.typeOfBNode(v) != BCTree::CComp)
nr_cr = nr_cr + uprs[v].numberOfCrossings();
}
//merge all component to a graph
node parent_BC = BC.bcproper(s_hat);
NodeArray<bool> nodesDone(bcTree, false);
dfsMerge(GC, BC, biComps, uprs, UPR, nullptr, parent_BC, nodesDone); // start with the component which contains the super source s_hat
//augment to single sink graph
UPR.augment();
//set crossings
UPR.crossings = nr_cr;
//------------------------------------------------debug
/*
LayerBasedUPRLayout uprLayout;
UpwardPlanRep upr_bug(UPR.getEmbedding());
adjEntry adj_bug = upr_bug.getAdjEntry(upr_bug.getEmbedding(), upr_bug.getSuperSource(), upr_bug.getEmbedding().externalFace());
node s_upr_bug = upr_bug.newNode();
upr_bug.getEmbedding().splitFace(s_upr_bug, adj_bug);
upr_bug.m_isSourceArc.init(upr_bug, false);
upr_bug.m_isSourceArc[s_upr_bug->firstAdj()->theEdge()] = true;
upr_bug.s_hat = s_upr_bug;
upr_bug.augment();
GraphAttributes AG(UPR, GraphAttributes::nodeGraphics|
GraphAttributes::edgeGraphics|
GraphAttributes::nodeColor|
GraphAttributes::edgeColor|
GraphAttributes::nodeLabel|
GraphAttributes::edgeLabel
);
AG.setAllHeight(30.0);
AG.setAllWidth(30.0);
uprLayout.call(upr_bug, AG);
for(node v : AG.constGraph().nodes) {
int idx;
idx = v->index();
if (UPR.original(v) != 0)
idx = UPR.original(v)->index();
AG.label(v) = to_string(idx);
if (UPR.isDummy(v))
AG.fillColor(v) = "#ff0000";
AG.y(v)=-AG.y(v);
}
// label the edges with their index
for(edge e : AG.constGraph().edges) {
AG.label(e) = to_string(e->index());
if (UPR.isSourceArc(e))
AG.strokeColor(e) = "#00ff00";
if (UPR.isSinkArc(e))
AG.strokeColor(e) = "#ff0000";
DPolyline &line = AG.bends(e);
ListIterator<DPoint> it;
for(it = line.begin(); it.valid(); it++) {
(*it).m_y = -(*it).m_y;
}
}
AG.writeGML("c:/temp/upr_res.gml");
//cout << "UPR_RES";
//UPR.outputFaces(UPR.getEmbedding());
//cout << "Mapping :" << endl;
//for(node v : UPR.nodes) {
// if (UPR.original(v) != 0) {
// cout << "node UPR " << v << " node G " << UPR.original(v) << endl;
// }
//}
// --------------------------------------------end debug
*/
OGDF_ASSERT(hasSingleSource(UPR));
OGDF_ASSERT(isSimple(UPR));
OGDF_ASSERT(isAcyclic(UPR));
OGDF_ASSERT(UpwardPlanarity::isUpwardPlanar_singleSource(UPR));
/*
for(edge eee : UPR.original().edges) {
if (UPR.isReversed(eee))
cout << endl << eee << endl;
}
*/
return Module::retFeasible;
}
int GC(int a,int b)
{
if (b==0) return a;
return GC(b,a%b);
}
int main( int argc, char** argv ){
#if (CISST_OS == CISST_LINUX_XENOMAI)
mlockall(MCL_CURRENT | MCL_FUTURE);
RT_TASK task;
rt_task_shadow( &task, "mtsWAMGCExample", 60, 0 );
#endif
mtsTaskManager* taskManager = mtsTaskManager::GetInstance();
cmnLogger::SetMask( CMN_LOG_ALLOW_ALL );
cmnLogger::SetMaskFunction( CMN_LOG_ALLOW_ALL );
cmnLogger::SetMaskDefaultLog( CMN_LOG_ALLOW_ALL );
if( argc != 2 ){
std::cout << "Usage: " << argv[0] << " can[0-1]" << std::endl;
return -1;
}
mtsKeyboard kb;
kb.SetQuitKey( 'q' );
kb.AddKeyWriteFunction( 'C', "GCEnable", "Enable", true );
taskManager->AddComponent( &kb );
#if (CISST_OS == CISST_LINUX_XENOMAI)
osaRTSocketCAN can( argv[1], osaCANBus::RATE_1000 );
#else
osaSocketCAN can( argv[1], osaCANBus::RATE_1000 );
#endif
if( can.Open() != osaCANBus::ESUCCESS ){
CMN_LOG_RUN_ERROR << argv[0] << "Failed to open " << argv[1] << std::endl;
return -1;
}
mtsWAM WAM( "WAM", &can, osaWAM::WAM_7DOF, OSA_CPU4, 80 );
WAM.Configure();
WAM.SetPositions( vctDynamicVector<double>(7,
0.0, -cmnPI_2, 0.0, cmnPI,
0.0, -cmnPI_2, 0.0 ) );
taskManager->AddComponent( &WAM );
cmnPath path;
path.AddRelativeToCisstShare("/models/WAM");
// Rotate the base
vctMatrixRotation3<double> Rw0( 0.0, 0.0, -1.0,
0.0, 1.0, 0.0,
1.0, 0.0, 0.0 );
vctFixedSizeVector<double,3> tw0(0.0);
vctFrame4x4<double> Rtw0( Rw0, tw0 );
mtsGravityCompensation GC( "GC",
0.002,
path.Find( "wam7.rob" ),
Rtw0,
OSA_CPU3 );
taskManager->AddComponent( &GC );
if( !taskManager->Connect( kb.GetName(), "GCEnable",
GC.GetName(), "Control") ){
std::cout << "Failed to connect: "
<< kb.GetName() << "::GCEnable to "
<< GC.GetName() << "::Control" << std::endl;
return -1;
}
if( !taskManager->Connect( WAM.GetName(), "Input",
GC.GetName(), "Output" ) ){
std::cout << "Failed to connect: "
<< WAM.GetName() << "::Input to "
<< GC.GetName() << "::Output" << std::endl;
return -1;
}
if( !taskManager->Connect( WAM.GetName(), "Output",
GC.GetName(), "Input" ) ){
std::cout << "Failed to connect: "
<< WAM.GetName() << "::Output to "
<< GC.GetName() << "::Input" << std::endl;
return -1;
}
taskManager->CreateAll();
taskManager->StartAll();
pause();
return 0;
}
void FPPLayout::doCall(
const Graph &G,
adjEntry adjExternal,
GridLayout &gridLayout,
IPoint &boundingBox,
bool fixEmbedding)
{
// check for double edges & self loops
OGDF_ASSERT(isSimple(G));
// handle special case of graphs with less than 3 nodes
if (G.numberOfNodes() < 3) {
node v1, v2;
switch (G.numberOfNodes()) {
case 0:
boundingBox = IPoint(0, 0);
return;
case 1:
v1 = G.firstNode();
gridLayout.x(v1) = gridLayout.y(v1) = 0;
boundingBox = IPoint(0, 0);
return;
case 2:
v1 = G.firstNode();
v2 = G.lastNode();
gridLayout.x(v1) = gridLayout.y(v1) = gridLayout.y(v2) = 0;
gridLayout.x(v2) = 1;
boundingBox = IPoint(1, 0);
return;
}
}
// make a copy for triangulation
GraphCopy GC(G);
// embed
if (!fixEmbedding) {
if (planarEmbed(GC) == false) {
OGDF_THROW_PARAM(PreconditionViolatedException, pvcPlanar);
}
}
triangulate(GC);
// get edges for outer face (triangle)
adjEntry e_12;
if (adjExternal != 0) {
edge eG = adjExternal->theEdge();
edge eGC = GC.copy(eG);
e_12 = (adjExternal == eG->adjSource()) ? eGC->adjSource() : eGC->adjTarget();
}
else {
e_12 = GC.firstEdge()->adjSource();
}
adjEntry e_2n = e_12->faceCycleSucc();
NodeArray<int> num(GC);
NodeArray<adjEntry> e_wp(GC); // List of predecessors on circle C_k
NodeArray<adjEntry> e_wq(GC); // List of successors on circle C_k
computeOrder(GC, num , e_wp, e_wq, e_12, e_2n, e_2n->faceCycleSucc());
computeCoordinates(GC, boundingBox, gridLayout, num, e_wp, e_wq);
}
namespace libmpdataxx
{
namespace formulae
{
namespace mpdata
{
template<opts_t opts, int dim, class arr_3d_t>
inline auto HOT_1_helper(
const arr_3d_t &GC,
const arr_3d_t &G,
const rng_t &i,
const rng_t &j,
const rng_t &k
) return_macro(,
(
3 * GC(pi<dim>(i+h, j, k)) * abs(GC(pi<dim>(i+h, j, k))) / G_at_half<opts BOOST_PP_COMMA() dim>(G, i, j, k)
- 2 * pow(GC(pi<dim>(i+h, j, k)), 3) / pow(G_at_half<opts BOOST_PP_COMMA() dim>(G, i, j, k), 2)
- GC(pi<dim>(i+h, j, k))
) / 3
)
template<opts_t opts, int dim, class arr_3d_t>
inline auto HOT_2_helper(
const arrvec_t<arr_3d_t> &GC,
const arr_3d_t &G,
const rng_t &i,
const rng_t &j,
const rng_t &k
) return_macro(,
(
abs(GC[dim](pi<dim>(i+h, j, k)))
void PlanarDrawLayout::doCall(
const Graph &G,
adjEntry adjExternal,
GridLayout &gridLayout,
IPoint &boundingBox,
bool fixEmbedding)
{
// require to have a planar graph without multi-edges and self-loops;
// planarity is checked below
OGDF_ASSERT(isSimple(G));
OGDF_ASSERT(isLoopFree(G));
// handle special case of graphs with less than 3 nodes
if(G.numberOfNodes() < 3)
{
node v1, v2;
switch(G.numberOfNodes())
{
case 0:
boundingBox = IPoint(0,0);
return;
case 1:
v1 = G.firstNode();
gridLayout.x(v1) = gridLayout.y(v1) = 0;
boundingBox = IPoint(0,0);
return;
case 2:
v1 = G.firstNode();
v2 = G.lastNode ();
gridLayout.x(v1) = gridLayout.y(v1) = gridLayout.y(v2) = 0;
gridLayout.x(v2) = 1;
boundingBox = IPoint(1,0);
return;
}
}
// we make a copy of G since we use planar biconnected augmentation
GraphCopySimple GC(G);
if(fixEmbedding) {
PlanarAugmentationFix augmenter;
augmenter.call(GC);
} else {
// augment graph planar biconnected
m_augmenter.get().call(GC);
// embed augmented graph
m_embedder.get().call(GC,adjExternal);
}
// compute shelling order
m_computeOrder.get().baseRatio(m_baseRatio);
ShellingOrder order;
m_computeOrder.get().call(GC,order,adjExternal);
// compute grid coordinates for GC
NodeArray<int> x(GC), y(GC);
computeCoordinates(GC,order,x,y);
boundingBox.m_x = x[order(1,order.len(1))];
boundingBox.m_y = 0;
for(node v : GC.nodes)
if(y[v] > boundingBox.m_y) boundingBox.m_y = y[v];
// copy coordinates from GC to G
for(node v : G.nodes) {
node vCopy = GC.copy(v);
gridLayout.x(v) = x[vCopy];
gridLayout.y(v) = y[vCopy];
}
}
template <> void Graph<Circle>::color_circle_packing(const coloring_type &coloring)
{
Graph_Colorer GC(this, coloring);
GC.color();
return;
}
constexpr GC encode_gc(const char* cat) noexcept { return cat && *cat ? encode_gc(cat[0], cat[1]) : GC(); }
constexpr GC encode_gc(char c1, char c2) noexcept { return GC(unicornDetail::encode_gc(c1, c2)); }
long Long() const {
return (AC()<<24)
| (RC()<<16)
| (GC()<<8)
| BC();
}
