bool Create()
{
WndMaker km(this);
km.width(280).sv(1);
km.width( 96).sv(2);
km.win("dialog" ,km.label("find and replace").flags(km.IWND_NO_RESIZABLE|km.IWND_NO_CLOSE|km.IWND_AUTO_FIT).sprops("icon","Find"));
km.win("col");
km.win("row");
km.add("textctrl" ,km.ld(1).name("search.text_old").hint("find what?"));
km.add("textctrl" ,km.ld(1).name("search.text_new").hint("replace with?"));
km.win("col" ,km.ld(0).label("search_flags").flags(km.IWND_EXPAND));
km.add("checkbox" ,km.ld(0).name("search.case").label("match case"));
km.add("checkbox" ,km.ld(0).name("search.word").label("match word"));
km.add("checkbox" ,km.ld(0).name("search.regexp").label("regexp"));
//km.add("checkbox" ,km.ld(0).name("search.posix").label("posix"));
km.end();
km.end();
km.win("row");
km.add("button" ,km.ld(2).name("Btn.Find"));
km.add("button" ,km.ld(2).name("Btn.Replace"));
km.add("button" ,km.ld(2).name("Btn.ReplaceAll"));
km.end();
km.end();
km.end();
return true;
}
//may be more faster
//first, spectral cluster
//second, the nearest neighbor cluster or hierarchical cluster
double* twoStepCluster(const Mat& convexPoints)
{
printf("start to cluster the convex points using two tep method ...\n");
time_t startTime = time(0);
int nl = convexPoints.rows;
int k = 200;
Kmeans km(convexPoints, k);
//printf("centers: %d\n", km.centers.rows);
//std::cout << "centers: \n" << km.centers << endl;
//cout << "nums: \n";
//cout << km.nums;
//cout << endl;
//spectralClustering(convexPoints, k, indices, centers);
printf("tag 1...\n");
//further process
Hierarchical hc(km.centers, km.nums);
printf("tag 2...\n");
double* score = hc.collectScore(km.indices);
//double* score = km.collectScore();
printf("end of cluster the convex points using method 2...\n");
return score;
}
IMessageView(EvtCommandWindowMessage& t,wxWindow* p):Target(t),wxPanel(p, wxID_ANY, wxDefaultPosition,wxDefaultSize)
{
this->SetMinSize(wxSize(200,48));
EvtManager& ec(EvtManager::current());
ec.append(new EvtMsgError(t));
ec.append(new EvtMsgMessage(t));
ec.append(new EvtMsgWarning(t));
ec.append(new EvtMsgSearch(t));
ec.gp_beg("tb.MsgLevel");
ec.gp_add("Msg.Error");
ec.gp_add("Msg.Warning");
ec.gp_add("Msg.Message");
ec.gp_end();
ec.gp_beg("tb.MsgSearch");
ec.gp_add(new EvtCommandText("Msg.Search.Text"));
ec.gp_add("Msg.Search");
ec.gp_end();
WndMaker km(this);
km.row();
km.col(WndProperty().flags(IDefs::IWND_EXPAND));
km.add(ec["tb.MsgLevel"].cast_group()->CreateTbar(this,16),WndProperty());
km.add("space",WndProperty().propotion(1));
km.add(ec["tb.MsgSearch"].cast_group()->CreateTbar(this,16),WndProperty());
km.end();
km.add(m_pDataView=new IMessageDataView(this),WndProperty().propotion(1).flags(IDefs::IWND_EXPAND));
km.end();
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "KeyframeMapper");
ros::NodeHandle nh;
ros::NodeHandle nh_private("~");
ccny_rgbd::KeyframeMapper km(nh, nh_private);
ros::spin();
return 0;
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "RGBNavigator");
ros::NodeHandle nh;
ros::NodeHandle nh_private("~");
ccny_rgbd::RGBNavigator km(nh, nh_private);
ros::spin();
return 0;
}
int main()
{
while(scanf("%d\n",&n)!=EOF)
{
for(int i=1;i<=n;++i)gets(s[i]);
memset(g,0,sizeof(g));
for(int i=1;i<=n;++i)
for(int j=1;j<=n;++j)
if(i!=j) g[i][j]=cal(s[i],s[j]);
km();
}
return 0;
}
int main()
{
int a;
while (1) {
for (a = 0; a < P; a++)
if (!fork())
km();
for (a = 0; a < P; a++)
wait(NULL);
usleep(200000);
}
}
wxWindow* EvtOptionPage::CreatePage(wxWindow* w)
{
WndMaker km(w);
km.win("container");
DoCreatePage(km);
km.end();
wxWindow* pw=km.get();
m_pVald=km.vald;
if(m_pValdGroup)
{
m_pValdGroup->append(m_pVald.get());
}
return pw;
}
void CAST256::setkey(std::string KEY){
if (keyset){
throw std::runtime_error("Error: Key has already been set.");
}
if ((KEY.size() != 16) && (KEY.size() != 20) && (KEY.size() != 24) && (KEY.size() != 28) && (KEY.size() != 32)){
throw std::runtime_error("Error: Key must be 128, 160, 192, 224, or 256 bits in length.");
}
KEY += std::string(32 - KEY.size(), 0);
a = toint(KEY.substr(0, 4), 256);
b = toint(KEY.substr(4, 4), 256);
c = toint(KEY.substr(8, 4), 256);
d = toint(KEY.substr(12, 4), 256);
e = toint(KEY.substr(16, 4), 256);
f = toint(KEY.substr(20, 4), 256);
g = toint(KEY.substr(24, 4), 256);
h = toint(KEY.substr(28, 4), 256);
uint32_t Cm = 0x5A827999, Mm = 0x6ED9EBA1, Cr = 19, Mr = 17;
std::vector <uint8_t> range24_8(24, 0);
std::vector <uint32_t> range24_32(24, 0);
Tm.push_back(range24_32); Tr.push_back(range24_8);
for(uint8_t x = 0; x < 8; x++){
Tm.push_back(range24_32);
Tr.push_back(range24_8);
}
for(uint8_t i = 0; i < 24; i++){
for(uint8_t j = 0; j < 8; j++){
Tm[j][i] = Cm;
Cm = (Cm + Mm) & mod32;
Tr[j][i] = Cr;
Cr = (Cr + Mr) & 31;
}
}
for(uint8_t i = 0; i < 12; i++){
W(i << 1);
W((i << 1) + 1);
Kr.push_back(kr());
Km.push_back(km());
}
keyset = true;
}
bool Create()
{
WndMaker km(this);
km.propotion(1).flags(km.IWND_EXPAND).size(540,280).sv(1);
km.width( 96).sv(2);
km.win("dialog" ,km.label("Webview.Script").flags(km.IWND_NO_CLOSE|km.IWND_AUTO_FIT).sprops("icon","Find"));
km.win("row");
km.add("stc" ,km.ld(1).name("Webview.script"));
km.win("col" ,km.flags(km.IWND_EXPAND));
km.add("space" ,km.propotion(1));
km.add("button" ,km.ld(2).name("Webview.Exec"));
km.add("button" ,km.ld(2).name("Webview.Clear"));
km.end();
km.end();
km.end();
return true;
}
int main()
{
scanf("%d",&n);
m=n;
int sum=0;
for(int i=1;i<=n;i++)
{
for(int j=1;j<=n;j++)
{
int t;
scanf("%d",&t);
conn[i][++conn[i][0]]=j;
w[i][j]=t;
sum+=t;
}
}
km();
int ans=0;
for(int i=1;i<=n;i++)
ans+=w[pre[i]][i];
printf("%d\n",sum-ans);
return 0;
}
TEST(MoveArm, goToPoseGoal)
{
ros::NodeHandle nh;
actionlib::SimpleActionClient<move_arm::MoveArmAction> move_arm(nh, "move_right_arm");
boost::thread spin_thread(&spinThread);
move_arm.waitForServer();
ROS_INFO("Connected to server");
move_arm::MoveArmGoal goalA;
//getting a monitor so that we can track the configuration of the arm
planning_environment::RobotModels rm("robot_description");
EXPECT_TRUE(rm.loadedModels());
tf::TransformListener tf;
planning_environment::KinematicModelStateMonitor km(&rm, &tf);
km.waitForState();
//should have the state at this point
goalA.goal_constraints.set_pose_constraint_size(1);
goalA.goal_constraints.pose_constraint[0].pose.header.stamp = ros::Time::now();
goalA.goal_constraints.pose_constraint[0].pose.header.frame_id = "base_link";
//starting configuration
//-position [x, y, z] = [0.77025, -.18, 0.73]
//-rotation [x, y, z, w] = [0, -0.05, 0, 0]
goalA.goal_constraints.pose_constraint[0].type = arm_navigation_msgs::PoseConstraint::POSITION_X
+ arm_navigation_msgs::PoseConstraint::POSITION_Y
+ arm_navigation_msgs::PoseConstraint::POSITION_Z
+ arm_navigation_msgs::PoseConstraint::ORIENTATION_R
+ arm_navigation_msgs::PoseConstraint::ORIENTATION_P
+ arm_navigation_msgs::PoseConstraint::ORIENTATION_Y;
goalA.goal_constraints.pose_constraint[0].link_name = "r_wrist_roll_link";
goalA.goal_constraints.pose_constraint[0].pose.pose.position.x = 0.60;
goalA.goal_constraints.pose_constraint[0].pose.pose.position.y = -0.25;
goalA.goal_constraints.pose_constraint[0].pose.pose.position.z = 0.84;
goalA.goal_constraints.pose_constraint[0].pose.pose.orientation.x = 0;
goalA.goal_constraints.pose_constraint[0].pose.pose.orientation.y = 0;
goalA.goal_constraints.pose_constraint[0].pose.pose.orientation.z = 0;
goalA.goal_constraints.pose_constraint[0].pose.pose.orientation.w = 1.0;
goalA.goal_constraints.pose_constraint[0].position_tolerance_above.x = 0.01;
goalA.goal_constraints.pose_constraint[0].position_tolerance_above.y = 0.01;
goalA.goal_constraints.pose_constraint[0].position_tolerance_above.z = 0.01;
goalA.goal_constraints.pose_constraint[0].position_tolerance_below.x = 0.01;
goalA.goal_constraints.pose_constraint[0].position_tolerance_below.y = 0.01;
goalA.goal_constraints.pose_constraint[0].position_tolerance_below.z = 0.01;
goalA.goal_constraints.pose_constraint[0].orientation_tolerance_above.x = 0.01;
goalA.goal_constraints.pose_constraint[0].orientation_tolerance_above.y = 0.01;
goalA.goal_constraints.pose_constraint[0].orientation_tolerance_above.z = 0.01;
goalA.goal_constraints.pose_constraint[0].orientation_tolerance_below.x = 0.01;
goalA.goal_constraints.pose_constraint[0].orientation_tolerance_below.y = 0.01;
goalA.goal_constraints.pose_constraint[0].orientation_tolerance_below.z = 0.01;
goalA.goal_constraints.pose_constraint[0].orientation_importance = 0.2;
goalA.contacts.resize(2);
goalA.contacts[0].links.push_back("r_gripper_l_finger_link");
goalA.contacts[0].links.push_back("r_gripper_r_finger_link");
goalA.contacts[0].links.push_back("r_gripper_l_finger_tip_link");
goalA.contacts[0].links.push_back("r_gripper_r_finger_tip_link");
goalA.contacts[0].depth = 0.04;
goalA.contacts[0].bound.type = arm_navigation_msgs::Object::SPHERE;
goalA.contacts[0].bound.dimensions.push_back(0.3);
goalA.contacts[0].pose = goalA.goal_constraints.pose_constraint[0].pose;
goalA.contacts[1].links.push_back("r_gripper_palm_link");
goalA.contacts[1].links.push_back("r_wrist_roll_link");
goalA.contacts[1].depth = 0.02;
goalA.contacts[1].bound.type = arm_navigation_msgs::Object::SPHERE;
goalA.contacts[1].bound.dimensions.push_back(0.2);
goalA.contacts[1].pose = goalA.goal_constraints.pose_constraint[0].pose;
if (nh.ok())
{
bool finished_within_time = false;
move_arm.sendGoal(goalA);
finished_within_time = move_arm.waitForResult(ros::Duration(10.0));
EXPECT_TRUE(finished_within_time);
if (!finished_within_time)
{
move_arm.cancelGoal();
ROS_INFO("Timed out achieving goal A");
}
else
{
actionlib::SimpleClientGoalState state = move_arm.getState();
ROS_INFO("Action finished: %s",state.toString().c_str());
EXPECT_TRUE(state == actionlib::SimpleClientGoalState::SUCCEEDED);
double dist_pose;
double dist_angle;
diffConfig(km,goalA,dist_pose,dist_angle);
//close enough - summed tolerances
EXPECT_TRUE(dist_pose < .005+.005+.01);
EXPECT_TRUE(dist_angle < .005*3);
EXPECT_TRUE(finalStateMatchesGoal(km,goalA));
}
}
nh.setParam( "/move_right_arm/long_range_only", true);
move_arm::MoveArmGoal goalB;
//starting configuration
//-position [x, y, z] = [0.77025, -.18, 0.73]
//-rotation [x, y, z, w] = [0, -0.05, 0, 0]
goalB.goal_constraints.set_pose_constraint_size(1);
goalB.goal_constraints.pose_constraint[0].pose.header.stamp = ros::Time::now();
goalB.goal_constraints.pose_constraint[0].pose.header.frame_id = "base_link";
goalB.goal_constraints.pose_constraint[0].type = arm_navigation_msgs::PoseConstraint::POSITION_X
+ arm_navigation_msgs::PoseConstraint::POSITION_Y
+ arm_navigation_msgs::PoseConstraint::POSITION_Z
+ arm_navigation_msgs::PoseConstraint::ORIENTATION_R
+ arm_navigation_msgs::PoseConstraint::ORIENTATION_P
+ arm_navigation_msgs::PoseConstraint::ORIENTATION_Y;
goalB.goal_constraints.pose_constraint[0].link_name = "r_wrist_roll_link";
goalB.goal_constraints.pose_constraint[0].pose.pose.position.x = 0.60;
goalB.goal_constraints.pose_constraint[0].pose.pose.position.y = -0.25;
goalB.goal_constraints.pose_constraint[0].pose.pose.position.z = 0.5;
goalB.goal_constraints.pose_constraint[0].pose.pose.orientation.x = 0;
goalB.goal_constraints.pose_constraint[0].pose.pose.orientation.y = 0;
goalB.goal_constraints.pose_constraint[0].pose.pose.orientation.z = 0;
goalB.goal_constraints.pose_constraint[0].pose.pose.orientation.w = 1.0;
goalB.goal_constraints.pose_constraint[0].position_tolerance_above.x = 0.05;
goalB.goal_constraints.pose_constraint[0].position_tolerance_above.y = 0.05;
goalB.goal_constraints.pose_constraint[0].position_tolerance_above.z = 0.05;
goalB.goal_constraints.pose_constraint[0].position_tolerance_below.x = 0.05;
goalB.goal_constraints.pose_constraint[0].position_tolerance_below.y = 0.05;
goalB.goal_constraints.pose_constraint[0].position_tolerance_below.z = 0.05;
goalB.goal_constraints.pose_constraint[0].orientation_tolerance_above.x = 0.05;
goalB.goal_constraints.pose_constraint[0].orientation_tolerance_above.y = 0.05;
goalB.goal_constraints.pose_constraint[0].orientation_tolerance_above.z = 0.05;
goalB.goal_constraints.pose_constraint[0].orientation_tolerance_below.x = 0.05;
goalB.goal_constraints.pose_constraint[0].orientation_tolerance_below.y = 0.05;
goalB.goal_constraints.pose_constraint[0].orientation_tolerance_below.z = 0.05;
goalB.goal_constraints.pose_constraint[0].orientation_importance = 0.2;
goalB.path_constraints.set_pose_constraint_size(1);
goalB.path_constraints.pose_constraint[0].pose.header.stamp = ros::Time::now();
goalB.path_constraints.pose_constraint[0].pose.header.frame_id = "base_link";
goalB.path_constraints.pose_constraint[0].type = arm_navigation_msgs::PoseConstraint::POSITION_X
+ arm_navigation_msgs::PoseConstraint::POSITION_Y
+ arm_navigation_msgs::PoseConstraint::POSITION_Z
+ arm_navigation_msgs::PoseConstraint::ORIENTATION_R
+ arm_navigation_msgs::PoseConstraint::ORIENTATION_P;
// + arm_navigation_msgs::PoseConstraint::ORIENTATION_Y;
goalB.path_constraints.pose_constraint[0].link_name = "r_wrist_roll_link";
goalB.path_constraints.pose_constraint[0].pose.pose.position.x = 0.60;
goalB.path_constraints.pose_constraint[0].pose.pose.position.y = -0.25;
goalB.path_constraints.pose_constraint[0].pose.pose.position.z = .45;
goalB.path_constraints.pose_constraint[0].pose.pose.orientation.x = 0;
goalB.path_constraints.pose_constraint[0].pose.pose.orientation.y = 0;
goalB.path_constraints.pose_constraint[0].pose.pose.orientation.z = 0;
goalB.path_constraints.pose_constraint[0].pose.pose.orientation.w = 1.0;
goalB.path_constraints.pose_constraint[0].position_tolerance_above.x = 0.1;
goalB.path_constraints.pose_constraint[0].position_tolerance_above.y = 0.1;
goalB.path_constraints.pose_constraint[0].position_tolerance_below.x = 0.1;
goalB.path_constraints.pose_constraint[0].position_tolerance_below.y = 0.1;
goalB.path_constraints.pose_constraint[0].position_tolerance_above.z = 10.0;
goalB.path_constraints.pose_constraint[0].position_tolerance_below.z = 0.1;
goalB.path_constraints.pose_constraint[0].orientation_tolerance_above.x = 0.1;
goalB.path_constraints.pose_constraint[0].orientation_tolerance_above.y = 0.1;
// goalB.path_constraints.pose_constraint[0].orientation_tolerance_above.z = 0.05;
goalB.path_constraints.pose_constraint[0].orientation_tolerance_below.x = 0.1;
goalB.path_constraints.pose_constraint[0].orientation_tolerance_below.y = 0.1;
// goalB.path_constraints.pose_constraint[0].orientation_tolerance_below.z = 0.05;
goalB.path_constraints.pose_constraint[0].orientation_importance = 0.4;
goalB.contacts.resize(2);
goalB.contacts[0].links.push_back("r_gripper_l_finger_link");
goalB.contacts[0].links.push_back("r_gripper_r_finger_link");
goalB.contacts[0].links.push_back("r_gripper_l_finger_tip_link");
goalB.contacts[0].links.push_back("r_gripper_r_finger_tip_link");
goalB.contacts[0].depth = 0.04;
goalB.contacts[0].bound.type = arm_navigation_msgs::Object::SPHERE;
goalB.contacts[0].bound.dimensions.push_back(0.3);
goalB.contacts[0].pose = goalB.goal_constraints.pose_constraint[0].pose;
goalB.contacts[1].links.push_back("r_gripper_palm_link");
goalB.contacts[1].links.push_back("r_wrist_roll_link");
goalB.contacts[1].depth = 0.02;
goalB.contacts[1].bound.type = arm_navigation_msgs::Object::SPHERE;
goalB.contacts[1].bound.dimensions.push_back(0.2);
goalB.contacts[1].pose = goalB.goal_constraints.pose_constraint[0].pose;
if (nh.ok())
{
move_arm.sendGoal(goalB);
ros::Time start_time = ros::Time::now();
ros::Duration elapsed(0.0);
//trying ticks in case time gets wonky
unsigned int ticks=0;
while(1) {
bool result_during_cycle = move_arm.waitForResult(ros::Duration(.2));
//got some result before time out
if(result_during_cycle) {
break;
}
elapsed = ros::Time::now()-start_time;
std::cout << "Time " << elapsed.toSec() << std::endl;
//checking if we've gone over max time - if so bail
if(elapsed.toSec() > 10.0 || ticks++ > 50) break;
goalB.path_constraints.pose_constraint[0].pose.pose.orientation.x = 0;
goalB.path_constraints.pose_constraint[0].pose.pose.orientation.y = 0;
//check that the path obeys constraints
EXPECT_TRUE(currentStateSatisfiesPathConstraints(km,goalB));
}
if (elapsed.toSec() > 10.0)
{
move_arm.cancelGoal();
ROS_INFO("Timed out achieving goal A");
EXPECT_TRUE(elapsed.toSec() < 10.0);
}
else
{
actionlib::SimpleClientGoalState state = move_arm.getState();
ROS_INFO("Action finished: %s",state.toString().c_str());
EXPECT_TRUE(state == actionlib::SimpleClientGoalState::SUCCEEDED);
double dist_pose;
double dist_angle;
diffConfig(km,goalA,dist_pose,dist_angle);
//close enough - summed tolerances
EXPECT_TRUE(dist_pose < .01+.01+.002);
EXPECT_TRUE(dist_angle < .05*3);
EXPECT_TRUE(finalStateMatchesGoal(km,goalB));
}
}
ros::shutdown();
spin_thread.join();
}
int n,s,map[200][200],from[200]={0},lx[200]={0},ly[200]={0},slack[200],vx[200]={0},vy[200]={0};int path(int v){int i,t;if(vx[v])return false;vx[v]=1;for(i=1;i<=n;i++){if(vy[i])continue;t=lx[v]+ly[i]-map[v][i];if(t==0){vy[i]=1;if(from[i]==0||path(from[i])){from[i]=v;return1;}}else if(t<slack[i]){slack[i]=t;}}return 0;}int km(){int i,j,d,ans=0;for(i=1;i<=n;i++){while(true){memset(vx,0,800);memset(vy,0,800);for(j=1;j<=n;j++)slack[j]=2000000000;if(path(i))break;d=2000000000;for(j=1;j<=n;j++){if(!vy[j]&&slack[j]<d)d=slack[j];}for(j=1;j<=n;j++){if(vx[j])lx[j]-=d;if(vy[j])ly[j]+=d;}}}for(i=1;i<=n;i++){ans+=map[from[i]][i];}return ans;}int main(){int i,j;cin>>n;for(i=1;i<=n;i++){for(j=1;j<=n;j++){cin>>map[i][j];s+=map[i][j];if(map[i][j]>lx[i])lx[i]=map[i][j];}}cout<<s-km();}
void spectralClustering(const Mat& feature, int k, Mat& indices, Mat& centers)
{
//use for sparse the graph
//so can decrease the graph complexity
float sparseDistance;
Mat D;
Mat W;
Mat L;
int n = feature.rows;
int cols = feature.cols;
//weight matrix
W.create(n, n, CV_32FC1);
//a square and diag matrix
D = Mat::zeros(n, n, CV_32FC1);
float mean, mean_square;
mean = mean_square = 0;
for(int i = 0 ; i < n; i++)
{
float* wdata = W.ptr<float>(i);
const float* data = feature.ptr<float>(i);
for(int j = 0; j < n; j++)
{
wdata[j] = 0;
if(i == j)
{
wdata[j] = 1;
continue;
}
for(int k = 0; k < cols; k ++)
wdata[j] += (data[k] - feature.at<float>(j, k)) * (data[k] - feature.at<float>(j, k));
wdata[j] = 1/wdata[j];
mean += wdata[j];
mean_square += wdata[j] * wdata[j];
}
}
mean = mean/(n * n);
float delta = sqrt(mean_square/(n*n) - mean*mean);
double min_prob = 0.01;
const float pi = 3.14159265;
sparseDistance = (mean - 2 * delta);
for(int i = 0 ; i < n; i++)
{
float* wdata = W.ptr<float>(i);
float sum = 0.0;
for(int j = 0; j < n; j++)
{
if(wdata[j] < sparseDistance)
wdata[j] = 0;
sum += wdata[j];
}
D.at<float>(i, i) = sum;
}
Mat eigenValues;
Mat eigenVectors;
//SVD factor for matrix L
L = D - W;
eigen(L, eigenValues, eigenVectors);
//printInfo(eigenValues);
Mat pcaResult;
//get the last k miniest eiggenvalue rows for store in matrix pcaResult
transpose(eigenVectors.rowRange(eigenVectors.rows - k, eigenVectors.rows), pcaResult);
//kmeans
Kmeans km(pcaResult, k);
indices = km.indices;
centers = km.centers;
}
