void rc_features::imageCallback(const sensor_msgs::ImageConstPtr& msg) {
cb_mutex.lock();
cv_bridge::CvImagePtr cv_ptr;
try {
cv_ptr = cv_bridge::toCvCopy(msg, enc::BGR8);
this->origFrame = cv_ptr->image;
rc_feature_main();
displayer();
} catch (cv_bridge::Exception& e) {
ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}
cb_mutex.unlock();
}
void
TimeIterationPolicyLinear<mesh_Type, AssemblyPolicy, SolverPolicy>::
iterate ( vectorPtr_Type solution,
bcContainerPtr_Type bchandler,
const Real& currentTime )
{
Real rhsIterNorm ( 0.0 );
//
// STEP 1: Updating the system
//
displayer().leaderPrint ( "Updating the system... " );
*M_rhs = 0.0;
M_systemMatrix.reset ( new matrix_Type ( *M_solutionMap ) );
AssemblyPolicy::assembleSystem ( M_systemMatrix, M_rhs, solution, SolverPolicy::preconditioner() );
displayer().leaderPrint ( "done\n" );
//
// STEP 2: Applying the boundary conditions
//
displayer().leaderPrint ( "Applying BC... " );
bcManage ( *M_systemMatrix, *M_rhs, *uFESpace()->mesh(), uFESpace()->dof(), *bchandler, uFESpace()->feBd(), 1.0, currentTime );
M_systemMatrix->globalAssemble();
displayer().leaderPrint ( "done\n" );
// Extra information if we want to know the exact residual
if ( M_computeResidual )
{
rhsIterNorm = M_rhs->norm2();
}
//
// STEP 3: Solving the system
//
displayer().leaderPrint ( "Solving the system... \n" );
SolverPolicy::solve ( M_systemMatrix, M_rhs, solution );
if ( M_computeResidual )
{
vector_Type Ax ( solution->map() );
vector_Type res ( *M_rhs );
M_systemMatrix->matrixPtr()->Apply ( solution->epetraVector(), Ax.epetraVector() );
res.epetraVector().Update ( -1, Ax.epetraVector(), 1 );
Real residual;
res.norm2 ( &residual );
residual /= rhsIterNorm;
displayer().leaderPrint ( "Scaled residual: ", residual, "\n" );
}
}
//Display callback function
void display()
{
if (screener == -1)
{
intro();
}
else if (counter>0)
{
displayer();
}
else if (screener == 0)
{
glutDestroyWindow(game1);
game2 = glutCreateWindow("RFD");
glutDisplayFunc(endscreen);
glutSpecialFunc(specialkeys);
glutIdleFunc(beingIdle);
glutKeyboardFunc(keyboard);
glutReshapeFunc(myReshape);
glutMainLoop();
}
//cout << "I am called. " << i++ << endl;
}
QVariant CurrentInventoryGroupsTVModel::data(const QModelIndex & index, int role) const
{
CurrentInventoryGroupsTVDisplayer displayer(index, role, this);
return displayer.display();
}
QVariant ReportGoodsTVModel::data(const QModelIndex & index, int role) const
{
ReportGoodsTVDisplayer displayer(index, role, this);
return displayer.display();
}
QVariant UnpaidDocumentTVModel::data(const QModelIndex & index, int role) const
{
UnpaidDocumentTVDisplayer displayer(index, role, this);
return displayer.display();
}
void
TimeIterationPolicyNonlinear<mesh_Type, AssemblyPolicy, SolverPolicy>::
iterate ( vectorPtr_Type solution,
bcContainerPtr_Type bchandler,
const Real& currentTime )
{
int subiter = 0;
Real normRhs ( 0.0 );
Real nonLinearResidual ( 0.0 );
Real rhsIterNorm ( 0.0 );
do
{
//
// STEP 1: Updating the system
//
displayer().leaderPrint ( "Updating the system... " );
*M_rhs = 0.0;
M_systemMatrix.reset ( new matrix_Type ( *M_solutionMap ) );
AssemblyPolicy::assembleSystem ( M_systemMatrix, M_rhs, solution, SolverPolicy::preconditioner() );
displayer().leaderPrint ( "done\n" );
//
// STEP 2: Applying the boundary conditions
//
displayer().leaderPrint ( "Applying BC... " );
bcManage ( *M_systemMatrix, *M_rhs, *uFESpace()->mesh(), uFESpace()->dof(), *bchandler, uFESpace()->feBd(), 1.0, currentTime );
M_systemMatrix->globalAssemble();
displayer().leaderPrint ( "done\n" );
// Norm of the rhs needed for the nonlinear convergence test
if ( subiter == 0 )
{
normRhs = M_rhs->norm2();
}
//
// STEP 3: Computing the residual
//
// Computing the RHS as RHS=b-Ax_k
vector_Type Ax ( solution->map() );
M_systemMatrix->matrixPtr()->Apply ( solution->epetraVector(), Ax.epetraVector() );
Ax.epetraVector().Update (-1, M_rhs->epetraVector(), 1);
nonLinearResidual = Ax.norm2();
displayer().leaderPrint ( "Nonlinear residual : ", nonLinearResidual, "\n" );
displayer().leaderPrint ( "Nonlinear residual (scaled) : ", nonLinearResidual / normRhs, "\n" );
if ( nonLinearResidual > M_nonLinearTolerance * normRhs )
{
displayer().leaderPrint ( "---\nSubiteration [", ++subiter, "]\n" );
// Extra information if we want to know the exact residual
if ( M_computeResidual )
{
rhsIterNorm = M_rhs->norm2();
}
//
// Solving the system
//
displayer().leaderPrint ( "Solving the system... \n" );
*solution = 0.0;
SolverPolicy::solve ( M_systemMatrix, M_rhs, solution );
// int numIter = SolverPolicy::solve( M_systemMatrix, M_rhs, solution );
// numIterSum += numIter; //
if ( M_computeResidual )
{
vector_Type Ax ( solution->map() );
vector_Type res ( *M_rhs );
M_systemMatrix->matrixPtr()->Apply ( solution->epetraVector(), Ax.epetraVector() );
res.epetraVector().Update ( -1, Ax.epetraVector(), 1 );
Real residual;
res.norm2 ( &residual );
residual /= rhsIterNorm;
displayer().leaderPrint ( "Scaled residual: ", residual, "\n" );
}
}
}
while ( nonLinearResidual > M_nonLinearTolerance * normRhs );
displayer().leaderPrint ( "Nonlinear iterations : ", subiter, "\n" );
}
