bool evaluate_cell_human(cell temp_cell, double distance, std::vector<bool> &temp_checked_map)
{
bool check_distance = distance < max_distance;
if (!check_distance)
{
//ROS_INFO("cell to far");
return false;
}
bool cell_already_checked = temp_checked_map[cell_to_int(temp_cell)];
if(cell_already_checked)
{
//ROS_INFO("cell already checked");
return false;
}
if(check_distance && !cell_already_checked)
{
int index = cell_to_int(temp_cell);
image_data[index] = 1;
temp_checked_map[index] = true;
// int temp_cell_x = temp_cell.x;
// int temp_cell_y = temp_cell.y;
// ROS_INFO("check %d %d", temp_cell.x, temp_cell.y);
return true;
}
}
/**
* Other than e.g. strcmp, this method returns TRUE (1) if both states are equal,
* and FALSE (0) if they are different
*/
int state_cmp (int p, int i) {
int j;
if ((state(i,0)==0 && cells[p].tc.c != letter_count) ||
(state(i,0)!=0 && cells[p].tc.c != 0)) return(FALSE);
for (j=1; j < letter_count; j++)
if (p+j<=last_full_cell && cells[p+j].tc.c == j) {
if (cell_to_int(cells[p+j]) != state(i,j)) return(FALSE);
} else if (state(i,j) != 0) return(FALSE);
return(TRUE);
}
void main (int argc, char **argv) {
struct stat f_stat;
int c, c1, state, i, j, subst, subst1;
ushort c2;
fprintf(stderr, "rewrite: Utility for dictionary rewriting the standard input to the standard output\n");
if (argc!=4) {
printf("Usage:\nrewrite <alphabet> <info_dic> <comp_dic>");
exit(1);
}
fi = fopen(argv[1],"rb");
memset(codes, 0, 65536*sizeof(int));
for (letter_count=1; (c=fgetchar(fi))>=' '; letter_count++) {
if (codes[c] != 0) {
printf("Duplicated letter in the alphabet! \n");
exit(1);
}
codes[c] = letter_count;
letters[letter_count]=c;
}
fclose(fi);
stat(argv[2],&f_stat);
fi = fopen(argv[2],"rb");
infos = malloc(f_stat.st_size);
fread(infos, 1, f_stat.st_size, fi);
fclose(fi);
stat(argv[3],&f_stat);
fi = fopen(argv[3],"rb");
cells = malloc(f_stat.st_size);
fread(cells, 1, f_stat.st_size, fi);
fclose(fi);
fi = stdin; //fopen(argv[4],"rb");
fo = stdout; //fopen(argv[5],"wb");
state = cell_to_int(0);
i=0; j=0; subst=-1; subst1=0;
ushort newline = '\n';
while (testin(i)!=0) {
c=testin(j);
c1 = codes[c];
if (c1!=0 && cells[state+c1].tc.c==c1) {
state = cell_to_int(state+c1);
if (cells[state].tc.c==0) {
subst = j;
subst1 = cell_to_int(state);
}
j++;
} else {
if (subst!=-1) {
i=subst+1; j=i; state = cell_to_int(0);
fwrite(infos+subst1,sizeof(ushort),wstrlen(infos+subst1),fo);
fwrite()
subst=-1;
} else {
c2 = testin(i);
fwrite(&c2,sizeof(ushort),1,fo); // write char as is to stream
i++; j=i; state = cell_to_int(0);
}
}
}
// fclose(fi);
// fclose(fo);
}
