/* Reset the position and other variables in each finger */
void Hand::reset() {
for (int i = 0; i < NUM_FINGERS; i++) {
finger[i].close();
delay(3000);
finger[i].stop();
printPos();
finger[i].reset();
delay(500);
finger[i].current_grasp = OPEN;
finger[i].setTarget(graspToTarget(finger[i].current_grasp, i));
for (int j = 0; j < 30; j++) {
finger[i].update();
delay(50);
}
finger[i].stop();
printPos();
finger[i].current_grasp = NIL;
finger[i].setTarget(graspToTarget(finger[i].current_grasp, i));
}
}
int main(int argc, char *argv[])
{
int c=1;
construct();
while(c!=0)
{
menu();
scanf("%d",&c);
if(c==1)
insert();
else if(c==2)
remve();
else if(c==3)
peek();
else if(c==4)
printHeap();
else if(c==5)
printSize();
else if(c==6)
printPos();
else if(c==7)
c=0;
}
return 0;
}
void print( const PlayerT & player )
{
if ( player.state_ )
{
std::cout << "<Player side=\"" << player.side_ << "\"";
std::cout << " unum=\"" << player.unum_ << "\"";
std::cout << " type=\"" << player.type_ << "\"";
if ( player.state_ != 1 ) std::cout << " mode=\"" << player.state_ << "\"";
std::cout << ">\n";
printPos( player.x_, player.y_ );
printVel( player.vx_, player.vy_ );
printAngles( player.body_, player.neck_ );
printView( player.view_width_, player.view_quality_ == 'h' );
printStamina( player.stamina_, player.effort_, player.recovery_ );
printCounts( player.kick_count_,
player.dash_count_,
player.turn_count_,
player.say_count_,
player.turn_neck_count_,
player.catch_count_,
player.move_count_,
player.change_view_count_ );
std::cout << "</Player>\n";
}
}
void Moveable::zPos(double z)
{
zPos_(z);
if (globReportFlag)
printPos();
flag_ = true;
}
void print( const BallT & ball )
{
std::cout << "<Ball>\n";
printPos( ball.x_, ball.y_ );
printVel( ball.vx_, ball.vy_ );
std::cout << "</Ball>\n";
}
void Moveable::yPos(double y)
{
yPos_(y);
if (globReportFlag)
printPos();
flag_ = true;
}
void Moveable::xPos(double x)
{
xPos_(x);
if (globReportFlag)
printPos();
flag_ = true;
}
void doPeakClusters(struct trackDb *tdb, char *item)
/* Display detailed info about a cluster of DNase peaks from other tracks. */
{
int start = cartInt(cart, "o");
char *table = tdb->table;
int rowOffset = hOffsetPastBin(database, seqName, table);
char query[256];
struct sqlResult *sr;
char **row;
struct bed *cluster = NULL;
struct sqlConnection *conn = hAllocConn(database);
cartWebStart(cart, database, "%s item details", tdb->shortLabel);
sqlSafef(query, sizeof(query),
"select * from %s where name = '%s' and chrom = '%s' and chromStart = %d",
table, item, seqName, start);
sr = sqlGetResult(conn, query);
row = sqlNextRow(sr);
if (row != NULL)
cluster = bedLoadN(row+rowOffset, 5);
sqlFreeResult(&sr);
if (cluster != NULL)
{
/* Get list of subgroups to display */
char *inputTableFieldDisplay = trackDbSetting(tdb, "inputTableFieldDisplay");
if (inputTableFieldDisplay != NULL)
{
struct slName *fieldList = stringToSlNames(inputTableFieldDisplay);
char *inputTrackTable = trackDbRequiredSetting(tdb, "inputTrackTable");
/* Print out some information about the cluster overall. */
printf("<B>Items in Cluster:</B> %s of %d<BR>\n", cluster->name,
sqlRowCount(conn, sqlCheckIdentifier(inputTrackTable)));
printf("<B>Cluster Score (out of 1000):</B> %d<BR>\n", cluster->score);
printPos(cluster->chrom, cluster->chromStart, cluster->chromEnd, NULL, TRUE, NULL);
/* In a new section put up list of hits. */
webNewSection("List of Items in Cluster");
webPrintLinkTableStart();
printClusterTableHeader(fieldList, FALSE, FALSE, TRUE);
printPeakClusterInfo(tdb, cart, conn, inputTrackTable, fieldList, cluster);
}
else
errAbort("Missing required trackDb setting %s for track %s",
"inputTableFieldDisplay", tdb->track);
webPrintLinkTableEnd();
}
printf("<A HREF=\"%s&g=htcListItemsAssayed&table=%s\" TARGET_blank>", hgcPathAndSettings(),
tdb->track);
printf("List all items assayed");
printf("</A><BR>\n");
webNewSection("Track Description");
printTrackHtml(tdb);
hFreeConn(&conn);
}
void Finger::printDetails(void)
{
MYSERIAL.print("Finger ");
MYSERIAL.print(fingerIndex);
MYSERIAL.print(" ");
printSpeed();
printPos();
printDir();
printReached(true); // print new line after
}
int PlayListWidget::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
{
_id = QTreeWidget::qt_metacall(_c, _id, _a);
if (_id < 0)
return _id;
if (_c == QMetaObject::InvokeMetaMethod) {
switch (_id) {
case 0: playListEmpty(); break;
case 1: playItem((*reinterpret_cast< PlayListItem*(*)>(_a[1]))); break;
case 2: addFile((*reinterpret_cast< QString(*)>(_a[1])),(*reinterpret_cast< int(*)>(_a[2]))); break;
case 3: addFile((*reinterpret_cast< QString(*)>(_a[1]))); break;
case 4: addFile((*reinterpret_cast< QString(*)>(_a[1])),(*reinterpret_cast< QMap<QString,QString>(*)>(_a[2])),(*reinterpret_cast< int(*)>(_a[3]))); break;
case 5: addFile((*reinterpret_cast< QString(*)>(_a[1])),(*reinterpret_cast< QMap<QString,QString>(*)>(_a[2]))); break;
case 6: { int _r = addDir((*reinterpret_cast< QString(*)>(_a[1])),(*reinterpret_cast< int(*)>(_a[2])));
if (_a[0]) *reinterpret_cast< int*>(_a[0]) = _r; } break;
case 7: { int _r = addDir((*reinterpret_cast< QString(*)>(_a[1])));
if (_a[0]) *reinterpret_cast< int*>(_a[0]) = _r; } break;
case 8: removeSelected(); break;
case 9: doubleClicked((*reinterpret_cast< QTreeWidgetItem*(*)>(_a[1])),(*reinterpret_cast< int(*)>(_a[2]))); break;
case 10: scrollToActive(); break;
case 11: deselect((*reinterpret_cast< QTreeWidgetItem*(*)>(_a[1])),(*reinterpret_cast< int(*)>(_a[2]))); break;
case 12: clearPlayList(); break;
case 13: { int _r = loadM3UPlayList((*reinterpret_cast< QString(*)>(_a[1])),(*reinterpret_cast< int(*)>(_a[2])));
if (_a[0]) *reinterpret_cast< int*>(_a[0]) = _r; } break;
case 14: { int _r = loadM3UPlayList((*reinterpret_cast< QString(*)>(_a[1])));
if (_a[0]) *reinterpret_cast< int*>(_a[0]) = _r; } break;
case 15: { int _r = loadPLSPlayList((*reinterpret_cast< QString(*)>(_a[1])),(*reinterpret_cast< int(*)>(_a[2])));
if (_a[0]) *reinterpret_cast< int*>(_a[0]) = _r; } break;
case 16: { int _r = loadPLSPlayList((*reinterpret_cast< QString(*)>(_a[1])));
if (_a[0]) *reinterpret_cast< int*>(_a[0]) = _r; } break;
case 17: saveM3UPlayList((*reinterpret_cast< QString(*)>(_a[1]))); break;
case 18: savePLSPlayList((*reinterpret_cast< QString(*)>(_a[1]))); break;
case 19: updateColumnWidth((*reinterpret_cast< int(*)>(_a[1])),(*reinterpret_cast< int(*)>(_a[2])),(*reinterpret_cast< int(*)>(_a[3]))); break;
case 20: updateColumnPosition((*reinterpret_cast< int(*)>(_a[1])),(*reinterpret_cast< int(*)>(_a[2])),(*reinterpret_cast< int(*)>(_a[3]))); break;
case 21: headerContextMenu((*reinterpret_cast< const QPoint(*)>(_a[1]))); break;
case 22: setScroll(); break;
case 23: hideSection(); break;
case 24: showSection(); break;
case 25: printPos((*reinterpret_cast< int(*)>(_a[1]))); break;
default: ;
}
_id -= 26;
}
return _id;
}
void BinTree<T>::printPos() {
printPos(m_pRoot);
cout << endl;
}
void Finger::printPos(void)
{
printPos(0);
}
void AVL_tree<T>::printPos() {
printPos(m_pRoot);
cout << endl;
}
void AVL_tree<T>::printPos(Node_T *p) {
if(!p) return;
if(p->m_pChildren[0]) printPos(p->m_pChildren[0]);
if(p->m_pChildren[1]) printPos(p->m_pChildren[1]);
printElem(p);
}
void doFactorSource(struct sqlConnection *conn, struct trackDb *tdb, char *item, int start, int end)
/* Display detailed info about a cluster of TFBS peaks from other tracks. */
{
char extraWhere[256];
safef(extraWhere, sizeof extraWhere, "name='%s'", item);
int rowOffset;
struct sqlResult *sr = hRangeQuery(conn, tdb->table, seqName, start, end, extraWhere, &rowOffset);
char **row = sqlNextRow(sr);
struct factorSource *cluster = NULL;
if (row != NULL)
cluster = factorSourceLoad(row + rowOffset);
sqlFreeResult(&sr);
if (cluster == NULL)
errAbort("Error loading cluster from track %s", tdb->track);
char *sourceTable = trackDbRequiredSetting(tdb, "sourceTable");
char *factorLink = cluster->name;
char *vocab = trackDbSetting(tdb, "controlledVocabulary");
if (vocab != NULL)
{
char *file = cloneFirstWord(vocab);
factorLink = wgEncodeVocabLink(file, "term", factorLink, factorLink, factorLink, "");
}
printf("<B>Factor:</B> %s<BR>\n", factorLink);
printf("<B>Cluster Score (out of 1000):</B> %d<BR>\n", cluster->score);
printPos(cluster->chrom, cluster->chromStart, cluster->chromEnd, NULL, TRUE, item);
/* Get list of tracks we'll look through for input. */
char *inputTrackTable = trackDbRequiredSetting(tdb, "inputTrackTable");
char query[256];
sqlSafef(query, sizeof(query), "select tableName from %s where factor='%s' order by source",
inputTrackTable,
cluster->name);
/* Next do the lists of hits and misses. We have the hits from the non-zero signals in
* cluster->expScores. We need to figure out the sources actually assayed though
* some other way. We'll do this by one of two techniques. */
char *inputTableFieldDisplay = trackDbSetting(tdb, "inputTableFieldDisplay");
if (inputTableFieldDisplay != NULL)
{
struct slName *fieldList = stringToSlNames(inputTableFieldDisplay);
char *vocab = trackDbSetting(tdb, "controlledVocabulary");
/* In a new section put up list of hits. */
webNewSection("Assays for %s in Cluster", cluster->name);
webPrintLinkTableStart();
printClusterTableHeader(fieldList, TRUE, FALSE, TRUE);
printFactorSourceTableHits(cluster, conn, sourceTable,
inputTrackTable, fieldList, FALSE, vocab);
webPrintLinkTableEnd();
webNewSectionHeaderStart();
char sectionTitle[128];
safef(sectionTitle,
sizeof(sectionTitle),"Assays for %s Without Hits in Cluster", cluster->name);
jsBeginCollapsibleSectionOldStyle(cart, tdb->track, "cellNoHits", sectionTitle, FALSE);
webNewSectionHeaderEnd();
webPrintLinkTableStart();
printClusterTableHeader(fieldList, TRUE, FALSE, FALSE);
printFactorSourceTableHits(cluster, conn, sourceTable,
inputTrackTable, fieldList, TRUE, vocab);
webPrintLinkTableEnd();
jsEndCollapsibleSection();
}
else
{
errAbort("Missing required trackDb setting %s for track %s",
"inputTableFieldDisplay", tdb->track);
}
webNewSectionHeaderStart();
jsBeginCollapsibleSectionOldStyle(cart, tdb->track, "cellSources", "Cell Abbreviations", FALSE);
webNewSectionHeaderEnd();
hPrintFactorSourceAbbrevTable(conn, tdb);
jsEndCollapsibleSection();
doClusterMotifDetails(conn, tdb, cluster);
}
int main(int argc, const char **argv)
{
double actual_result_trans;
double actual_result_angle;
int finished;
playerc_client_t *client;
playerc_position2d_t *position2d;
playerc_bumper_t * bumper;
// Create a client object and connect to the server
client = playerc_client_create(NULL, SERVER, PORT);
if (playerc_client_connect(client) != 0)
{
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
printf("Connected...");
// Create a position2d proxy (device id "position2d:0") and susbscribe
// in read/write mode
position2d = playerc_position2d_create(client, 0);
if (playerc_position2d_subscribe(position2d, PLAYERC_OPEN_MODE))
{
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
printf("Position2D Subscribed...");
//Creates a Bumper Device Proxy
bumper = playerc_bumper_create(client, 0);
if(playerc_bumper_subscribe(bumper, PLAYERC_OPEN_MODE)) {
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
printf("Bumper Subscribed...");
// Enable the robots motors
playerc_position2d_enable(position2d, 1);
printf("Motor Enabled\n");
#ifdef ABSOLUTE_COORD
//calls our move function to move to second point
actual_result_trans = Move(client,position2d,bumper,3.2,0.0);
printf("Results Returned from Move: %f\n",actual_result_trans);
printPos(client,position2d,bumper);
//rotates robot into position for third point
actual_result_angle = Turn(client,position2d,bumper,(PI/2.0));
printf("Results Returned from TurnL %f\n",actual_result_angle);
printPos(client,position2d,bumper);
//moves to third point from second point
actual_result_trans = Move(client,position2d,bumper,3.2,3.04);
printf("Results Returned from Move: %f\n",actual_result_trans);
printPos(client,position2d,bumper);
//rotates robot into position for the fourth point
actual_result_angle = Turn(client,position2d,bumper,2.75741633);
printf("Results Returned from TurnL %f\n",actual_result_angle);
printPos(client,position2d,bumper);
//moves to fouth point from third point
actual_result_trans = Move(client,position2d,bumper,-0.5,4.7);
printf("Results Returned from Move: %f\n",actual_result_trans);
printPos(client,position2d,bumper);
//rotates robot into position for point five
actual_result_angle = Turn(client,position2d,bumper,(PI/2.0));
printf("Results Returned from TurnL %f\n",actual_result_angle);
printPos(client,position2d,bumper);
//moves robot from position four to position five
actual_result_trans = Move(client,position2d,bumper,-0.55,11.6);
printf("Results Returned from Move: %f\n",actual_result_trans);
printPos(client,position2d,bumper);
#else
//calls our move function to move to second point
actual_result_trans = Move(client,position2d,bumper,3.2,0.0);
printf("Results Returned from Move: %f\n",actual_result_trans);
printPos(client,position2d,bumper);
//rotates robot into position for third point
actual_result_angle = Turn(client,position2d,bumper,(PI/2.0));
printf("Results Returned from TurnL %f\n",actual_result_angle);
printPos(client,position2d,bumper);
//moves to third point from second point
actual_result_trans = Move(client,position2d,bumper,3.04,0.0);
printf("Results Returned from Move: %f\n",actual_result_trans);
printPos(client,position2d,bumper);
//rotates robot into position for the fourth point
actual_result_angle = Turn(client,position2d,bumper,1.18662);
printf("Results Returned from TurnL %f\n",actual_result_angle);
printPos(client,position2d,bumper);
//moves to fouth point from third point
actual_result_trans = Move(client,position2d,bumper,4.02,0.0);
printf("Results Returned from Move: %f\n",actual_result_trans);
printPos(client,position2d,bumper);
//rotates robot into position for point five
actual_result_angle = Turn(client,position2d,bumper,-1.18662);
printf("Results Returned from TurnL %f\n",actual_result_angle);
printPos(client,position2d,bumper);
//moves robot from position four to position five
actual_result_trans = Move(client,position2d,bumper,6.83,0.0);
printf("Results Returned from Move: %f\n",actual_result_trans);
printPos(client,position2d,bumper);
#endif
// Shutdown and Unsubscribe Devices
playerc_position2d_unsubscribe(position2d);
playerc_position2d_destroy(position2d);
playerc_bumper_unsubscribe(bumper);
playerc_bumper_destroy(bumper);
playerc_client_disconnect(client);
playerc_client_destroy(client);
return 0;
}
