/*
* Routine:
* Purpose:
* Algorithm:
* Data Structures:
*
* Params:
* Returns:
* Called By:
* Calls:
* Assumptions:
* Side Effects:
* TODO: None
*/
void
dump_dist(char *name)
{
d_idx_t *pIndex;
int i, j;
char *pCharVal = NULL;
int nVal;
pIndex = find_dist(name);
if (pIndex == NULL)
ReportErrorNoLine(QERR_BAD_NAME, name, 1);
printf("create %s;\n", pIndex->name);
printf("set types = (");
for (i=0; i < pIndex->v_width; i++)
{
if (i > 0)
printf(", ");
printf("%s", dist_type(name, i + 1) == 7?"int":"varchar");
}
printf(");\n");
printf("set weights = %d;\n", pIndex->w_width);
for (i=0; i < pIndex->length; i++)
{
printf("add(");
for (j=0; j < pIndex->v_width; j++)
{
if (j)
printf(", ");
if (dist_type(name, j + 1) != 7)
{
dist_member(&pCharVal, name, i + 1, j + 1);
printf("\"%s\"", pCharVal);
}
else
{
dist_member(&nVal, name, i + 1, j + 1);
printf("%d", nVal);
}
}
printf("; ");
for (j=0; j < pIndex->w_width; j++)
{
if (j)
printf(", ");
printf("%d", dist_weight(NULL, name, i + 1, j + 1));
}
printf(");\n");
}
return;
}
/**
* \fun LocaLization Constructor function
* Initializes the Localization class
*
*
*
*/
Localization::Localization(OptionManager& mgr, const std::string& descrName, const std::string& tagName) :
RobotBrainComponent(mgr, descrName, tagName),
itsOfs(new OutputFrameSeries(mgr)),
itsRunning(true),
itsNumParticles(1000),
itsKeepParticles(1000),
generator(42u),
generate_drift(generator, dist_type(M_DRIFT,SIGMA_DRIFT)),
generate_trans(generator, dist_type(M_TRANS,SIGMA_TRANS))
{
//// The images used for plotting the particles
iMap = Image<float > (2000,2000,ZEROS);
originalMap = Image<float > (2000,2000,ZEROS);
addSubComponent(itsOfs);
initPoints(itsNumParticles);
}
/*
* Routine: EvalDistopExpr(expr_t *pExpr, StringBuffer_t *pBuf);
* Purpose: set the values to be used to replace a given tag for this query generation
* Algorithm:
* Data Structures:
*
* Params:
* Returns:
* Called By:
* Calls:
* Assumptions:
* Side Effects:
* TODO:
*/
int
EvalDistExpr(expr_t *pExpr, Expr_Val_t *pBuf, Expr_Val_t *pParams, int bIsParam)
{
char *szName,
*pChar = NULL;
int nRow,
nCol,
nDataType,
nOffset,
nModifierArg,
i,
nTemp;
szName = GetBuffer(pParams->pBuf);
if (pParams[1].bUseInt)
nRow = (int)pParams[1].nValue;
else
nRow = DistNameIndex(szName, VALUE_NAME, GetBuffer(pParams[1].pBuf));
if (pParams[2].bUseInt)
nCol = (int)pParams[2].nValue;
else
nCol = DistNameIndex(szName, WEIGHT_NAME, GetBuffer(pParams[2].pBuf));
switch(pExpr->Value.nValue)
{
case KW_DISTMEMBER:
nDataType =
(dist_type(szName, nCol) == TKN_INT)?DT_INT:DT_STR;
if (nDataType == DT_STR)
{
dist_member(&pChar, szName, nRow, nCol);
AddBuffer(pBuf->pBuf, pChar);
}
else
{
dist_member(&nTemp, szName, nRow, nCol);
pBuf->nValue = nTemp;
pBuf->bUseInt = 1;
}
break;
case KW_DISTWEIGHT:
dist_weight(&nTemp, szName, nRow, nCol);
pBuf->nValue = nTemp;
pBuf->bUseInt = 1;
nDataType = DT_INT;
break;
default: /* regular call to DIST() */
nDataType = (dist_type(szName, nRow) == TKN_INT)?DT_INT:DT_STR;
switch (pExpr->nFlags & (EXPR_FL_RANGE | EXPR_FL_LIST))
{
case EXPR_FL_RANGE:
if (bIsParam)
ReportError(QERR_MODIFIED_PARAM, NULL, 1);
nModifierArg = (int)pParams[3].nValue;
i = pick_distribution(NULL, szName, nRow, nCol, 0);
nOffset = IntegrateDist(szName, nModifierArg, i, nCol);
if (nDataType == DT_INT)
{
pBuf->bUseInt = 1;
dist_member(&nTemp, szName, i, nRow);
pBuf->nValue = nTemp;
dist_member(&nTemp, szName, nOffset, nRow);
pBuf[1].nValue = nTemp;
}
else
{
dist_member(pChar, szName, i, nRow);
AddBuffer(pBuf->pBuf, pChar);
dist_member(pChar, szName, nOffset, nRow);
AddBuffer(pBuf[1].pBuf, pChar);
}
break;
case EXPR_FL_LIST:
if (bIsParam)
ReportError(QERR_MODIFIED_PARAM, NULL, 1);
nModifierArg = (int)pParams[3].nValue;
/* permute it */
if (nModifierArg > distsize(szName))
ReportError(QERR_RANGE_ERROR, "", 1);
if (!(pExpr->pPermute = makePermutation(pExpr->pPermute, distsize(szName), 0)))
ReportError(QERR_RANGE_ERROR, NULL, 1);
/* take the first n entries */
for (i=1; i <= nModifierArg; i++)
{
if (nDataType == DT_INT)
{
pBuf[i - 1].bUseInt = 1;
dist_member(&pBuf[i - 1].nValue, szName, getPermutationEntry(pExpr->pPermute, i), nRow);
}
else
{
dist_member(&pChar, szName, getPermutationEntry(pExpr->pPermute, i), nRow);
AddBuffer(pBuf[i - 1].pBuf, pChar);
}
}
break;
case EXPR_FL_LIST | EXPR_FL_RANGE:
ReportError(QERR_RANGE_LIST, NULL, 1);
break;
default:
if (nDataType == DT_STR)
{
pick_distribution(&pChar, szName, nRow, nCol, 0);
AddBuffer(pBuf->pBuf, pChar);
}
else
{
pick_distribution(&nTemp, szName, nRow, nCol, 0);
pBuf->nValue = nTemp;
pBuf->bUseInt = 1;
}
break;
} /* end of generic DIST() switch case */
break;
}
return(nDataType);
}
