double MPC::myfunc(const std::vector<double> &u, std::vector<double> &grad, void *my_func_data){
//double myfunc(unsigned dd, const double *u, double *grad, void *my_func_data){
/********** Define x_uk_ matrix **********/
Symbolic x_uk_pom;
//x_uk_pom = Symbolic ("x_uk_pom", 4, controller.Hp_);
x_uk_pom = x_uk_;
/********** Substitute control variable in state matrix **********/
x_uk_pom = substState(&u[0], x_uk_pom);
/*
cout <<"Dimensions x_uk: "<< controller.x_uk_.rows() << " x " << controller.x_uk_.columns() << "\n";
cout << "x_uk_pom = " << x_uk_pom << "\n";
*/
/********** Get predictive output (Hw to Hp) **********/
getPredictOutput(x_uk_pom);
/*
cout <<"Dimensions nelin: "<< controller.nelin_.rows() << " x " << controller.nelin_.cols() << "\n";
cout << "nelin = \n" << controller.nelin_ << "\n";
cout <<"Dimensions zp: "<< controller.zp_.rows() << " x " << controller.zp_.cols() << "\n";
cout << "zp = \n" << controller.zp_ << "\n";
cout <<"Dimensions z_k: "<< controller.z_k_.rows() << " x " << controller.z_k_.cols() << "\n";
cout << "z_k = \n" << controller.z_k_ << "\n";
*/
/********** Substitute control variable in cost **********/
substCost();
/********** Get control window **********/
getControlWindow(&u[0]);
/*
cout <<"Dimensions u_k: "<< controller.u_k_.rows() << " x " << controller.u_k_.cols() << "\n";
cout << "u_k = \n" << controller.u_k_ << "\n";
*/
/*****************************************/
cout << "Iteracija br.: " << iter_ << "\n";
iter_++;
/********** Get cost and return value **********/
return getCost();
}
double MPC::myfunc(const std::vector<double> &tau, std::vector<double> &grad, void *my_func_data){
//double myfunc(unsigned dd, const double *u, double *grad, void *my_func_data){
/********** Define x_uk_ matrix **********/
Symbolic z_uk_pom;
z_uk_pom = z_uk_;
/********** Substitute control variable in state matrix **********/
z_uk_pom = substState(&tau[0], z_uk_pom);
/*
cout <<"Dimensions z_uk: "<< controller.z_uk_.rows() << " x " << controller.z_uk_.columns() << "\n";
cout << "z_uk_pom = " << z_uk_pom << "\n";
*/
/********** Get predictive output (Hw to Hp) **********/
getPredictOutput(z_uk_pom);
/*
cout <<"Dimensions z_p: "<< controller.z_p_.rows() << " x " << controller.z_p_.cols() << "\n";
cout << "z_p = \n" << controller.zp_ << "\n";
cout <<"Dimensions z_k: "<< controller.z_k_.rows() << " x " << controller.z_k_.cols() << "\n";
cout << "z_k = \n" << controller.z_k_ << "\n";
*/
/********** Substitute control variable in cost **********/
substCost();
/********** Get control window **********/
getControlWindow(&tau[0]);
/*
cout <<"Dimensions tau_k: "<< controller.tau_k_.rows() << " x " << controller.tau_k_.cols() << "\n";
cout << "tau_k = \n" << controller.tau_k_ << "\n";
*/
/*****************************************/
cout << "Iteracija br.: " << iter_ << "\n";
iter_++;
/********** Get cost and return value **********/
return getCost();
}
void VlcPlugin::redrawToolbar()
{
libvlc_exception_t ex;
int is_playing = 0;
bool b_mute = false;
unsigned int dst_x, dst_y;
GC gc;
XGCValues gcv;
unsigned int i_tb_width, i_tb_height;
/* This method does nothing if toolbar is hidden. */
if( !b_toolbar )
return;
const NPWindow& window = getWindow();
Window control = getControlWindow();
Display *p_display = ((NPSetWindowCallbackStruct *)window.ws_info)->display;
getToolbarSize( &i_tb_width, &i_tb_height );
libvlc_exception_init( &ex );
/* get mute info */
b_mute = libvlc_audio_get_mute( getVLC() );
gcv.foreground = BlackPixel( p_display, 0 );
gc = XCreateGC( p_display, control, GCForeground, &gcv );
XFillRectangle( p_display, control, gc,
0, 0, window.width, i_tb_height );
gcv.foreground = WhitePixel( p_display, 0 );
XChangeGC( p_display, gc, GCForeground, &gcv );
/* position icons */
dst_x = BTN_SPACE;
dst_y = i_tb_height >> 1; /* baseline = vertical middle */
if( p_btnPause && (is_playing == 1) )
{
XPutImage( p_display, control, gc, p_btnPause, 0, 0, dst_x,
dst_y - (p_btnPause->height >> 1),
p_btnPause->width, p_btnPause->height );
dst_x += BTN_SPACE + p_btnPause->width;
}
void VlcPlugin::hideToolbar()
{
const NPWindow& window = getWindow();
Display *p_display = ((NPSetWindowCallbackStruct *)window.ws_info)->display;
Window control = getControlWindow();
Window video = getVideoWindow();
i_tb_width = i_tb_height = 0;
if( p_btnPlay ) XDestroyImage( p_btnPlay );
if( p_btnPause ) XDestroyImage( p_btnPause );
if( p_btnStop ) XDestroyImage( p_btnStop );
if( p_timeline ) XDestroyImage( p_timeline );
if( p_btnTime ) XDestroyImage( p_btnTime );
if( p_btnFullscreen ) XDestroyImage( p_btnFullscreen );
if( p_btnMute ) XDestroyImage( p_btnMute );
if( p_btnUnmute ) XDestroyImage( p_btnUnmute );
p_btnPlay = NULL;
p_btnPause = NULL;
p_btnStop = NULL;
p_timeline = NULL;
p_btnTime = NULL;
p_btnFullscreen = NULL;
p_btnMute = NULL;
p_btnUnmute = NULL;
/* reset panels position and size */
/* XXX use i_width */
XResizeWindow( p_display, video, window.width, window.height );
XMoveWindow( p_display, control, 0, window.height-1 );
XResizeWindow( p_display, control, window.width, 1 );
b_toolbar = 0; /* says toolbar is now hidden */
redrawToolbar();
}
void VlcPlugin::showToolbar()
{
const NPWindow& window = getWindow();
Window control = getControlWindow();
Window video = getVideoWindow();
Display *p_display = ((NPSetWindowCallbackStruct *)window.ws_info)->display;
unsigned int i_height = 0, i_width = BTN_SPACE;
/* load icons */
if( !p_btnPlay )
XpmReadFileToImage( p_display, DATA_PATH "/mozilla/play.xpm",
&p_btnPlay, NULL, NULL);
if( p_btnPlay )
{
i_height = __MAX( i_height, p_btnPlay->height );
}
if( !p_btnPause )
XpmReadFileToImage( p_display, DATA_PATH "/mozilla/pause.xpm",
&p_btnPause, NULL, NULL);
if( p_btnPause )
{
i_height = __MAX( i_height, p_btnPause->height );
}
i_width += __MAX( p_btnPause->width, p_btnPlay->width );
if( !p_btnStop )
XpmReadFileToImage( p_display, DATA_PATH "/mozilla/stop.xpm",
&p_btnStop, NULL, NULL );
if( p_btnStop )
{
i_height = __MAX( i_height, p_btnStop->height );
i_width += BTN_SPACE + p_btnStop->width;
}
if( !p_timeline )
XpmReadFileToImage( p_display, DATA_PATH "/mozilla/time_line.xpm",
&p_timeline, NULL, NULL);
if( p_timeline )
{
i_height = __MAX( i_height, p_timeline->height );
i_width += BTN_SPACE + p_timeline->width;
}
if( !p_btnTime )
XpmReadFileToImage( p_display, DATA_PATH "/mozilla/time_icon.xpm",
&p_btnTime, NULL, NULL);
if( p_btnTime )
{
i_height = __MAX( i_height, p_btnTime->height );
i_width += BTN_SPACE + p_btnTime->width;
}
if( !p_btnFullscreen )
XpmReadFileToImage( p_display, DATA_PATH "/mozilla/fullscreen.xpm",
&p_btnFullscreen, NULL, NULL);
if( p_btnFullscreen )
{
i_height = __MAX( i_height, p_btnFullscreen->height );
i_width += BTN_SPACE + p_btnFullscreen->width;
}
if( !p_btnMute )
XpmReadFileToImage( p_display, DATA_PATH "/mozilla/volume_max.xpm",
&p_btnMute, NULL, NULL);
if( p_btnMute )
{
i_height = __MAX( i_height, p_btnMute->height );
}
if( !p_btnUnmute )
XpmReadFileToImage( p_display, DATA_PATH "/mozilla/volume_mute.xpm",
&p_btnUnmute, NULL, NULL);
if( p_btnUnmute )
{
i_height = __MAX( i_height, p_btnUnmute->height );
}
i_width += BTN_SPACE + __MAX( p_btnUnmute->width, p_btnMute->width );
setToolbarSize( i_width, i_height );
if( !p_btnPlay || !p_btnPause || !p_btnStop || !p_timeline ||
!p_btnTime || !p_btnFullscreen || !p_btnMute || !p_btnUnmute )
fprintf(stderr, "Error: some button images not found in %s\n", DATA_PATH );
/* reset panels position and size */
/* XXX use i_width */
XResizeWindow( p_display, video, window.width, window.height - i_height);
XMoveWindow( p_display, control, 0, window.height - i_height );
XResizeWindow( p_display, control, window.width, i_height -1);
b_toolbar = 1; /* says toolbar is now shown */
redrawToolbar();
}
