/*------------------------------------------------------------------------- * Function: ptr_bind * * Purpose: Binds array dimensions to numeric values. * * Return: Success: SELF * * Failure: NIL * * Programmer: Robb Matzke * [email protected] * Jan 13 1997 * * Modifications: * *------------------------------------------------------------------------- */ static obj_t ptr_bind (obj_t _self, void *mem) { obj_ptr_t *self = MYCLASS(_self); obj_t name=NIL, val=NIL, x=NIL; int i; if (C_STR==self->sub->pub.cls) { name = obj_new (C_SYM, obj_name(self->sub)); x = sym_vboundp (name); name = obj_dest (name); val = obj_copy (x, DEEP); /*so we can modify it*/ x = obj_dest (x); /* * We're being tricky here. By assigning a new value to the `sub' * field we're modifying all the expressions that share this cell. * We must insure that the correct reference count is imparted * to the new subtype. */ for (i=1; i<self->pub.ref; i++) { x = obj_copy (val, SHALLOW); assert (x==val); } if (val) self->sub = val; } return obj_bind (self->sub, mem ? *((void**)mem) : NULL); }
//--------------------------------------------------------------------------
// Function: H5Object::getObjName
///\brief Returns the name of this object as an \a H5std_string.
///\return Name of the object
///\exception H5::Exception
// Programmer Binh-Minh Ribler - Mar, 2014
// Modification
//--------------------------------------------------------------------------
H5std_string H5Object::getObjName() const
{
H5std_string obj_name(""); // object name to return
// Preliminary call to get the size of the object name
ssize_t name_size = H5Iget_name(getId(), NULL, static_cast<size_t>(0));
// If H5Iget_name failed, throw exception
if (name_size < 0)
{
throw Exception(inMemFunc("getObjName"), "H5Iget_name failed");
}
else if (name_size == 0)
{
throw Exception(inMemFunc("getObjName"), "Object must have a name, but name length is 0");
}
// Object's name exists, retrieve it
else if (name_size > 0)
{
char* name_C = new char[name_size+1]; // temporary C-string
HDmemset(name_C, 0, name_size+1); // clear buffer
// Use overloaded function
name_size = getObjName(name_C, name_size+1);
// Convert the C object name to return
obj_name = name_C;
// Clean up resource
delete []name_C;
}
// Return object's name
return(obj_name);
}
int
vpm(int argc, char **argv)
{
if( argc < 2 )
throw std::runtime_error("Provide model name as second argument");
std::string obj_name(argv[1]);
std::string vision_module_dir( ros::package::getPath("vision_module") );
std::string tree_vps_path( vision_module_dir + "/data/tree_vps.txt");
std::string views_path( vision_module_dir + "/../database/cloud_data/"
+ obj_name + "_views" );
// Read the tree vps file
Eigen::MatrixXd tree_vps;
io_utils::file2matrix( tree_vps_path, tree_vps, 3 );
int num_vps = tree_vps.rows();
pcl::PointCloud<pcl::PointXYZ>::Ptr pcd_model_ptr( new pcl::PointCloud<pcl::PointXYZ>);
for(int vp = 0; vp < num_vps; ++vp)
{
// load the view
pcl::PointCloud<pcl::PointXYZ>::Ptr view_ptr( new pcl::PointCloud<pcl::PointXYZ>);
std::string view_path( views_path + "/" + obj_name + "_"
+ boost::lexical_cast<std::string>(vp) +".pcd" );
pcl::io::loadPCDFile<pcl::PointXYZ> ( view_path, *view_ptr );
// rotate to world frame
Eigen::Vector3d camera_position = tree_vps.row(vp).transpose();
Eigen::Vector4d camera_orientation = misc::target2quat( camera_position,
Eigen::Vector3d(0,0,0) );
tf::Transform map_T_snsr;
map_T_snsr.setOrigin( tf::Vector3(camera_position.x(),
camera_position.y(),
camera_position.z()) );
map_T_snsr.setRotation( tf::Quaternion( camera_orientation.x(),
camera_orientation.y(),
camera_orientation.z(),
camera_orientation.w()) );
tf::Transform snsr_T_optical;
snsr_T_optical.setOrigin( tf::Vector3( 0.0, 0.0, 0.0 ) );
snsr_T_optical.setRotation( tf::Quaternion( -0.5, 0.5, -0.5, 0.5 ) );
tf::Transform map_T_optical = map_T_snsr * snsr_T_optical;
pcl_ros::transformPointCloud( *view_ptr, *view_ptr, map_T_optical);
// add to pcd_model
*pcd_model_ptr += *view_ptr;
}
// Save
pcl::PCDWriter writer;
writer.writeASCII( vision_module_dir + "../database/pcd_models/" + obj_name + "_complete.pcd", *pcd_model_ptr );
return 0;
}
/*------------------------------------------------------------------------- * Function: sym_eval * * Purpose: Returns the variable value of a symbol if it has one. * * Return: Success: Ptr to a copy of the variable value. * * Failure: NIL * * Programmer: Robb Matzke * [email protected] * Dec 4 1996 * * Modifications: * Robb Matzke, 4 Feb 1997 * Fixed the arguments for the obj_deref() call. * * Robb Matzke, 2000-07-03 * The symbol `$*' evaluates to a list of all $N files for * consecutive N beginning at 1. *------------------------------------------------------------------------- */ static obj_t sym_eval (obj_t _self) { obj_t name_1=NIL, file_1=NIL, retval=NIL; obj_sym_t *self = MYCLASS(_self); /* If the symbol has a variable value then return it. */ if (MYCLASS(_self)->sym->var) { return obj_copy (MYCLASS(_self)->sym->var, SHALLOW); } /* The symbol `$*' evaluates to a list of the first consecutive files * bound to the $N symbols. */ if (!strcmp(self->sym->name, "$*")) { obj_t opands[1024], retval; int nopands, i; for (nopands=0; nopands<NELMTS(opands); nopands++) { obj_t symbol; char tmp[32]; sprintf(tmp, "$%d", nopands+1); symbol = obj_new(C_SYM, tmp); opands[nopands] = sym_vboundp(symbol); obj_dest(symbol); if (!opands[nopands] || C_FILE!=opands[nopands]->pub.cls) { /* We reached the last file or something isn't a file */ obj_dest(opands[nopands]); break; } } retval = V_make_list(nopands, opands); for (i=0; i<nopands; i++) { obj_dest(opands[i]); } return retval; } /* If the symbol exists in the first data file, then return * that SDO. */ name_1 = obj_new (C_SYM, "$1"); file_1 = MYCLASS(name_1)->sym->var; name_1 = obj_dest (name_1); if (file_1 && C_FILE==file_1->pub.cls) { retval = obj_deref (file_1, 1, &_self); return retval; } /* Symbol has no value. */ out_errorn ("eval: variable `%s' has no value", obj_name(_self)); return NIL; }
static gchar *
_mdh_name( t_obj * mdh_obj)
/*
* The 'name' of the MIDI hook is in fact the name of the trigger it calls
*/
{
if(!mdh_obj)
return NULL;
if(!MDH(mdh_obj)->trg_obj)
return NULL;
return obj_name(MDH(mdh_obj)->trg_obj);
} /* _mdh_name() */
const char* findKeyWord(const char* msg) {
android::String8 obj_name(msg);
obj_name.toLower();
const char* OBJ_NAME = obj_name.string();
// NOTE: keep these keywords in sync with MOF
android::String8 keyword("timeline_");
if (strstr(OBJ_NAME, "surfaceflinger")) {
keyword.append("SurfaceFlinger");
} else if (strstr(OBJ_NAME, "ovl_timeline")) {
keyword.append("ovl_timeline");
} else if (strstr(OBJ_NAME, "mali")) {
keyword.append("mali");
}
return keyword.string();
}
/*---------------------------------------------------------------------------
* Purpose: Return the string value of a builtin symbol.
*
* Return: Copy of the string value or NULL
*
* Programmer: Robb Matzke
* Friday, June 2, 2000
*
* Modifications:
*---------------------------------------------------------------------------
*/
char *
sym_bi_gets(const char *name)
{
char fullname[1024], *retval;
obj_t var, val;
/* Add built-in prefix */
if (*name!='$') {
fullname[0] = '$';
strcpy(fullname+1, name);
name = fullname;
}
var = obj_new(C_SYM, name);
val = sym_vboundp(var);
var = obj_dest(var);
retval = safe_strdup(obj_name(val));
obj_dest(val);
return retval;
}
void makePlots(char * file, char * suffix) {
//Get rid of stat-box
gROOT->GetStyle("Plain")->SetOptStat(0);
// AXIS LABELS STYLE
gROOT->GetStyle("Plain")->SetLabelColor(kBlack, "XYZ");
gROOT->GetStyle("Plain")->SetLabelFont(43, "XYZ");
gROOT->GetStyle("Plain")->SetLabelSize(20, "XYZ");
gROOT->SetStyle("Plain");
gROOT->ForceStyle(kTRUE);
const char * folder = "demo";
const char * to_plot[] = {"TrackerClusterMap", "TrackerClusterOntrackMap", "TrackerSameClusterOntrackMap", "TrackerOccupancyOntrackMap", "TrackerOccupancySameClusterOntrackMap", 0};
TFile * f = new TFile(file);
TCanvas * c = new TCanvas("C", "C", 1024, 1024);
for (const char **profile = to_plot; *profile; ++profile) {
TString obj_name(folder);
obj_name.Append("/").Append(*profile);
TProfile * p = (TProfile*)f->Get(obj_name.Data());
p->Draw("colz");
TString filename(*profile);
filename.Append("_").Append(suffix).Append(".png");
c->SaveAs(filename.Data());
}
}
int main(int argc, char **argv) {
FILE *nl;
char *stub;
fint nerror = (fint)0;
int n_badvals = 0;
real f;
if( argc < 2 ) {
fprintf(stderr, "Usage: %s stub\n", argv[0]);
return 1;
}
// Read objectives and first derivative information.
if( !(asl = ASL_alloc(ASL_read_fg)) ) exit(1);
stub = getstub(&argv, &Oinfo);
nl = jac0dim(stub, (fint)strlen(stub));
// Get command-line options.
if (getopts(argv, &Oinfo)) exit(1);
// Check command-line options.
if( showgrad < 0 || showgrad > 1 ) {
Printf("Invalid value for showgrad: %d\n", showgrad);
n_badvals++;
}
if( showname < 0 || showname > 1 ) {
Printf("Invalid value for showname: %d\n", showname);
n_badvals++;
}
if(n_badvals) {
Printf("Found %d errors in command-line options.\n", n_badvals);
exit(1);
}
// Allocate memory for problem data.
// The variables below must have precisely THESE names.
X0 = (real*)Malloc(n_var * sizeof(real)); // Initial guess
pi0 = (real*)Malloc(n_con * sizeof(real)); // Initial multipliers
LUv = (real*)Malloc(n_var * sizeof(real)); // Lower bounds on variables
Uvx = (real*)Malloc(n_var * sizeof(real)); // Upper bounds on variables
LUrhs = (real*)Malloc(n_con * sizeof(real)); // Lower bounds on constraints
Urhsx = (real*)Malloc(n_con * sizeof(real)); // Upper bounds on constraints
want_xpi0 = 3;
// Read in ASL structure - trap read errors
if( fg_read(nl, 0) ) {
fprintf(stderr, "Error fg-reading nl file\n");
goto bailout;
}
if(showname) { // Display objective name if requested.
Printf("Objective name: %s\n", obj_name(0));
}
// This "solver" outputs the objective function value at X0.
f = objval(0, X0, &nerror);
if(nerror) {
fprintf(stderr, "Error while evaluating objective.\n");
goto bailout;
}
Printf("f(x0) = %21.15e\n", f);
// Optionally also output objective gradient at X0.
if(showgrad) {
real *g = (real*)malloc(n_var * sizeof(real));
objgrd(0, X0, g, &nerror);
Printf("g(x0) = [ ");
for(int i=0; i<n_var; i++) Printf("%8.1e ", g[i]);
Printf("]\n");
free(g);
}
// Write solution to file. Here we just write the initial guess.
Oinfo.wantsol = 9; // Suppress message echo. Force .sol writing
write_sol(CHR"And the winner is", X0, pi0, &Oinfo);
bailout:
// Free data structure. DO NOT use free() on X0, pi0, etc.
ASL_free((ASL**)(&asl));
return 0;
}
