void StegoModel::doMMDs() {
map< pair< int, int >, FeatureCollection* >::iterator fiter;
FeatureCollection::Iterator *citer;
// featureSet *stego;
mc = (mmdContext*) malloc(sizeof(mmdContext));
mc->clean = cleanSet;
startAction(mc->clean);
initMMD(steg, *mc);
estimateGamma(steg, *mc);
// mc->stego = mc->clean;
// estimateMMD(steg, *mc);
for (fiter = collections.begin(); fiter != collections.end(); fiter++) {
if (fiter->second != 0) {
printf("<%i, %i> \n", fiter->first.first, fiter->first.second);
citer = fiter->second->iterator();
while (citer->hasNext()) {
mc->stego = citer->next();
printf("doing set %g \n", mc->stego->header->prob);
startAction(mc->stego);
estimateMMD(steg, *mc);
mc->stego->mmd = mc->mmd;
endAction(mc->stego);
}
}
}
endAction(mc->clean);
closeMMD(*mc);
}
void StegoModel::estimateMus() {
map< pair< int, int >, FeatureCollection* >::iterator fiter;
FeatureCollection::Iterator *citer;
// featureSet *stego;
steg->features = cleanSet;
// printf("activating something \n");
startAction(steg->features);
// printf("estimating some mu... \n");
estimateMu(steg);
// printf("done \n");
// estimateSigma(steg);
// qrHouseholder(steg);
endAction(steg->features);
for (fiter = collections.begin(); fiter != collections.end(); fiter++) {
if (fiter->second != 0) {
// printf("<%i, %i> \n", fiter->first.first, fiter->first.second);
citer = fiter->second->iterator();
while (citer->hasNext()) {
steg->features = citer->next();
// printf("About to estimate mu with dim=%i, M=%i \n", steg->features->dim, steg->features->M);
startAction(steg->features);
estimateMu(steg);
endAction(steg->features);
// progressChanged((double) i / (double) j);
}
}
}
steg->features = cleanSet;
modelChanged();
}
static PyObject *pyStartAction(PyObject *self, PyObject *args) {
void *handle;
if (!PyArg_ParseTuple(args, "l", &handle)) {
PyErr_SetString(RulesError, "pyStartAction Invalid argument");
return NULL;
}
char *state;
char *messages;
void *actionHandle;
void *actionBinding;
unsigned int result = startAction(handle, &state, &messages, &actionHandle, &actionBinding);
if (result == ERR_NO_ACTION_AVAILABLE) {
Py_RETURN_NONE;
} else if (result != RULES_OK) {
if (result == ERR_OUT_OF_MEMORY) {
PyErr_NoMemory();
} else {
char *message;
if (asprintf(&message, "Could not start action, error code: %d", result)) {
PyErr_NoMemory();
} else {
PyErr_SetString(RulesError, message);
free(message);
}
}
return NULL;
}
PyObject *returnValue = Py_BuildValue("ssll", state, messages, actionHandle, actionBinding);
return returnValue;
}
void ItemTaskGroup::nextItem()
{
onProgressUpdate(100);
UserCore::Item::ItemHandleI* item = getActiveItem();
if (item)
item->delHelper(this);
if (m_uiActiveItem+1 >= m_vWaitingList.size())
{
m_uiLastActive = m_uiActiveItem;
m_uiActiveItem = UINT_MAX;
if (m_bFinal)
finish();
}
else
{
if (m_uiLastActive != UINT_MAX)
{
m_uiActiveItem = m_uiLastActive;
m_uiLastActive = UINT_MAX;
}
m_uiActiveItem++;
item = getActiveItem();
item->addHelper(this);
startAction(dynamic_cast<UserCore::Item::ItemHandle*>(item));
}
}
static VALUE rbStartAction(VALUE self, VALUE handle) {
Check_Type(handle, T_FIXNUM);
char *state;
char *messages;
void *actionHandle;
void *actionBinding;
unsigned int result = startAction((void *)FIX2LONG(handle), &state, &messages, &actionHandle, &actionBinding);
if (result == ERR_NO_ACTION_AVAILABLE) {
return Qnil;
} else if (result != RULES_OK) {
if (result == ERR_OUT_OF_MEMORY) {
rb_raise(rb_eNoMemError, "Out of memory");
} else {
rb_raise(rb_eException, "Could not start action, error code: %d", result);
}
}
VALUE output = rb_ary_new();
rb_ary_push(output, rb_str_new2(state));
rb_ary_push(output, rb_str_new2(messages));
rb_ary_push(output, INT2FIX(actionHandle));
rb_ary_push(output, INT2FIX(actionBinding));
return output;
}
/**
* \brief Default constructor
*/
SpecificWorker::SpecificWorker(MapPrx& mprx) : GenericWorker(mprx)
{
inner = new InnerModel("/home/robocomp/Software/robotica/Robotica2015/apartament.xml");
//inner = new InnerModel("/home/robocomp/Escritorio/Robotica2015/apartament.xml");
InnerModelLaser *lm;
if ((lm = dynamic_cast<InnerModelLaser *>(inner->getNode("laser"))) != NULL)
LASER_MAX = lm->max;
else
qFatal("Fatal error. Laser element not found in XML file");
//Inir random seed
qsrand(QTime::currentTime().msec());
//add robot node
lemon::ListGraph::Node robot = graph.addNode();
map = new lemon::ListGraph::NodeMap<QVec>(graph);
try
{
differentialrobot_proxy->getBaseState(bState);
inner->updateTransformValues("robot", bState.x, 0, bState.z, 0, bState.alpha, 0); //actualiza los valores del robot en el arbol de memoria
map->set(robot, inner->transform("world","robot"));
robotNode = lemon::ListGraph::NodeIt(graph,robot);
qDebug() << __FUNCTION__<< "Robot inserted in the graph at " << inner->transform("world","robot");
}
catch(const Ice::Exception &ex){ std::cout << ex.what() << std::endl;};
edgeMap = new lemon::ListGraph::EdgeMap<float>(graph);
//Innermodelviewer
osgView = new OsgView( frame );
osgGA::TrackballManipulator *tb = new osgGA::TrackballManipulator;
osg::Vec3d eye(osg::Vec3(4000.,4000.,-1000.));
osg::Vec3d center(osg::Vec3(0.,0.,-0.));
osg::Vec3d up(osg::Vec3(0.,-1.,0.));
tb->setHomePosition(eye, center, up, true);
osg::Matrixf m;
m.set( 0.998955, -0.0011, -0.09798, 0, -0.0798273, 0.0116788, -0.998538, 0, 0.000867, 0.997709, 0.0153157, 0, 4585.27, 11113.77, 4683.92, 1);
//tb->setByMatrix(osg::Matrixf::lookAt(eye,center,up));
tb->setByMatrix(m);
osgView->setCameraManipulator(tb);
innerViewer = new InnerModelViewer(inner, "root", osgView->getRootGroup(), true);
//draw the initial position of the roobt
InnerModelDraw::addPlane_ignoreExisting(innerViewer, "vertex_0", "world", inner->transform("world","robot"),
QVec::vec3(1,0,0), "#00ff00", QVec::vec3(100,100,100));
//Init closestNode
closestNode = robotNode;
//UI
connect(startButton, SIGNAL(clicked()), this, SLOT(startAction()));
connect(stopButton, SIGNAL(clicked()), this, SLOT(stopAction()));
}
void TickerTape::startTicker() {
m_rootWindow->registerUpdate(this);
startAction(0);
}
