Ejemplo n.º 1
0
int main(int argc, char *argv[]) 
{

	int i;
    char aa [21];
	char q[STRLEN];
	//Init aa[i], q[i]
	for (i=0; i<21; i++)
		aa[i] = random_number_gen();
	for (i=0; i<STRLEN; i++)
		q[i] = random_number_gen();

	accPrintCycle();
	SmithWaterman(aa, q);
	accPrintCycle();	
	
	printf("Smithwaterman finished\n");
	return 1;
}
/* function to generate random string */
void random_string_gen(char* string,int pages)
{
	int str_len;	
	char rand_char;
	int i;

	for(i = 0; i < 64*pages -1 ; i++)
	{
		rand_char = (char)random_number_gen(35,122);
		string[i] = rand_char;
	}	
	string[i] = '\0';
}
Ejemplo n.º 3
0
int main ()
{
	int i, j, nrot;
	float a[N][N], d[N], v[N][N];
	
	for (i = 0; i <= N; i++)
		for (j = 0; j < N; j++)
			a[i][j] = 1.2 * random_number_gen ();

	for (i = 0; i <= N; i++)
		for (j = 0; j < N; j++)
			v[i][j] = 0.7 * random_number_gen ();

	for (i = 0; i <= N; i++)
		d[i] = random_number_gen ();

	
	jacob (a, d, v, &nrot);
	

	printf( "\nnumber of Jacobi applied: %i\n", nrot);
	return 1;
}
Ejemplo n.º 4
0
int main ()
{
	CPose3DQuat cpose;
	TPoint3D point;
	kftype out_jacob_dryp_dpoint[3][3];
	kftype out_jacob_dryp_dpose[3][7];
	unsigned int i,j;

	cpose = (CPose3DQuat) {random_number_gen(), random_number_gen(),
		random_number_gen(), random_number_gen(),
		random_number_gen(), random_number_gen(),
		random_number_gen()};

	point = (TPoint3D) {
		random_number_gen(), 
		random_number_gen(),
		random_number_gen()
	};

	for (i=0; i<3; i++)
		for (j=0; j<3; j++)
			out_jacob_dryp_dpoint[i][j] = random_number_gen();

	for (i=0; i<3; i++)
		for (j=0; j<7; j++)
			out_jacob_dryp_dpose[i][j] = random_number_gen();

	sphericalCoordinates(cpose,point,
		out_jacob_dryp_dpoint,
		out_jacob_dryp_dpose
	);

	printf ("SLAM Sperical Coords ACC Done. \n");
	return 0;
}
Ejemplo n.º 5
0
int main ()
{
	CPose3DQuat X, U;
	kftype df_dx[7][4];
	CPose3DQuat out_X_oplus_U[1];
	unsigned int i,j;

	X = (CPose3DQuat) {random_number_gen(), random_number_gen(),
		random_number_gen(), random_number_gen(),
		random_number_gen(), random_number_gen(),
		random_number_gen()};

	U = (CPose3DQuat) {random_number_gen(), random_number_gen(),
		random_number_gen(), random_number_gen(),
		random_number_gen(), random_number_gen(),
		random_number_gen()};

	for (i=0; i<7; i++)
		for (j=0; j<4; j++)
			df_dx[i][j] = random_number_gen();

	accPrintCycle();
	jacobiansPoseComposition(X, U, df_dx, out_X_oplus_U);
	accPrintCycle();

	printf ("SLAM jacobians ACC Done. \n");
	return 0;
}
//------------- SLAM jacobians thread ------------------//
void *JacobiansThread(void *arg) 
{
	CPose3DQuat X, U;
	kftype df_dx[7][4];
	CPose3DQuat out_X_oplus_U[1];
	unsigned int i,j;

	X = (CPose3DQuat) {random_number_gen(), random_number_gen(),
		random_number_gen(), random_number_gen(),
		random_number_gen(), random_number_gen(),
		random_number_gen()};

	U = (CPose3DQuat) {random_number_gen(), random_number_gen(),
		random_number_gen(), random_number_gen(),
		random_number_gen(), random_number_gen(),
		random_number_gen()};

	for (i=0; i<7; i++)
		for (j=0; j<4; j++)
			df_dx[i][j] = random_number_gen();

	pthread_barrier_wait(&barrier);	
	jacobiansPoseComposition(X, U, df_dx, out_X_oplus_U);

	printf ("SLAM jacobians ACC Done. \n");
	return NULL;
}