ucs4string Segmentation::Segment(const ucs4string& ustr)
{
SegmentData data;
DoSegment(ucs4string(), 1.0, ustr, data);
if (data.m_res.empty())
return ustr;
return data.m_res;
}
void Segmentation::DoSegment(ucs4string base, double base_rr, ucs4string to_seg, SegmentData& data)
{
for (size_t i=1; i<to_seg.size(); ++i)
{
ucs4string us = to_seg.substr(0, i);
DoSegment(base + ucs4_t(' ') + us, base_rr*GetRateReciprocal(us), to_seg.substr(i), data);
}
double rr = base_rr*GetRateReciprocal(to_seg);
if (rr > data.m_rr)
return;
data.m_rr = rr;
data.m_res = base + ucs4_t(' ') + to_seg;
}
void DoEllipse(void)
{
int i,ibeg,iend;
double dist_beg,dist_end,V0,ta,da,length,Time0,Time1,MaxAp,MaxVp,angle;
Time0=Time_sec();
// first compute total length of path and build tables of info
length = ArcLength(ThetaStart,ThetaEnd,MAXN);
Time1=Time_sec();
printf("Length = %.9f Compute Time %.0f us\n",length, (Time1-Time0)*1e6);
// time to achieve max vel
ta = MaxV/MaxA;
// dist to achieve max vel
da = (0.5 * MaxA * ta) * ta;
printf("Accel Time %f Accel dist %f\n",ta,da);
// first move from where we are to starting point on ellipse
x0=ch0->Dest; // starting point is where we currently are
y0=ch1->Dest;
z0=ch2->Dest;
a0=ch3->Dest;
x1 = pointx[0]*RESX;
y1 = pointy[0]*RESY;
z1=z0; // keep z and a the same
a1=a0;
DoLinear();
// now rotate knife to be at the right angle for the first segment
angle = FindAngle(pointx[1]-pointx[0],pointy[1]-pointy[0]);
printf("angle=%f %f %f\n",angle,pointx[1]-pointx[0],pointy[1]-pointy[0]);
x0=x1; // xyz doesn't move
y0=y1;
z0=z1;
a0=a1;
a1=angle*RESA; // rotate knife to proper angle
DoLinear();
// search to find segments needed to accellerate/decelerate
// searches forward and backward throug the segments simultaneously
// until either the begiining and ending are sufficient to accel/deccel
// or we meet in the middle and run out of distance
ibeg=0;
iend=MAXN;
dist_beg = dist_end = 0.0;
do
{
if (dist_beg < dist_end)
ibeg++;
else
iend--;
dist_beg = sum[ibeg];
dist_end = sum[MAXN]-sum[iend];
// printf("ibeg=%d iend=%d dist beg %.3f dist_end %.3f\n",ibeg,iend,dist_beg,dist_end);
}
while ((dist_beg<da || dist_end<da) && ibeg<iend);
// if distance available is less than required accel distance
// then reduce the max velocity to what is achievable
if (ibeg>=iend)
{
if (dist_beg<dist_end)
MaxVp=sqrt(2.0*MaxA*dist_beg);
else
MaxVp=sqrt(2.0*MaxA*dist_end);
}
else
{
MaxVp=MaxV;
}
// adjust the acceleration to accelerate in exactly the beginning distance
MaxAp = 0.5*MaxVp*MaxVp/dist_beg;
// create all the segments
f=fopen("C:\\temp\\kflopdata.txt","wt");
V0=0.0; // start from stop
for (i=1;i<=ibeg;i++)
DoSegment(i,&V0,MaxAp); // accel segments
for (;i<=iend;i++)
DoSegment(i,&V0,0.0); // constant velocity
// adjust the acceleration to accelerate in exactly the ending distance
MaxAp = 0.5*MaxVp*MaxVp/dist_end;
for (;i<=MAXN;i++)
DoSegment(i,&V0,-MaxAp); // decel segments
fclose(f);
}