vector<vector<string> > solveNQueens(int n) {
this->column = vector<int> (n, 0);
this->main_diag = vector<int> (n*2, 0);
this->anti_diag = vector<int> (n*2, 0);
vector<vector<string> > result;
vector<int> q_col(n, 0); // q_col[i] means the ith queen is local at (i, q_col[i])
dfs(q_col, result, 0);
return result;
}
void playback_exact_CSpace_R3()
{
C2A_Model* P = NULL;
C2A_Model* Q = NULL;
readObjFile(P, "../data/models/CupSpoon/Cup.obj");
readObjFile(Q, "../data/models/CupSpoon/Spoon.obj");
P->ComputeRadius();
Q->ComputeRadius();
Collider3D collider(P, Q);
C2A_Model* CSpace;
readObjFile(CSpace, "../data/cupspoon.obj");
std::vector<ContactSpaceSampleData> contactspace_samples;
std::ifstream in("space_test_3d.txt");
asciiReader(in, contactspace_samples);
std::ofstream timing_file("timing_exact_R3.txt");
std::ofstream PD_file("PD_exact_R3.txt");
for(std::size_t i = 0; i < contactspace_samples.size(); ++i)
{
std::cout << i << std::endl;
DataVector q_col(6);
DataVector q(3);
for(std::size_t j = 0; j < 3; ++j)
q[j] = contactspace_samples[i].v[j];
for(std::size_t j = 0; j < 6; ++j)
q_col[j] = contactspace_samples[i].v[j];
boost::timer t;
//aTimer.Reset();
aTimer.Start();
std::pair<DataVector, double> pd_result;
if(!collider.isCollide(q_col))
{
pd_result.second = 0;
}
else
{
pd_result = Minkowski_Cspace_3D::Exact_PD_R3(q, CSpace);
}
aTimer.Stop();
PD_file << pd_result.second << " ";
//timing_file << t.elapsed() << " ";
timing_file << aTimer.GetTime() * 1000 << " ";
timing_file.flush();
PD_file.flush();
}
}
void playback_local_PD_R3()
{
std::ofstream timing_file("timing_local_PD_R3.txt");
std::ofstream PD_file("PD_local_R3.txt");
std::vector<C2A_Model*> P;
std::vector<C2A_Model*> Q;
readObjFiles(P, "../data/models/CupSpoon/cup_convex.obj");
readObjFiles(Q, "../data/models/CupSpoon/spoon_convex.obj");
std::vector<ContactSpaceSampleData> contactspace_samples;
std::ifstream in("space_test_3d.txt");
asciiReader(in, contactspace_samples);
for(std::size_t i = 0; i < contactspace_samples.size(); ++i)
{
std::cout << i << std::endl;
DataVector q_col(6);
DataVector q(3);
for(std::size_t j = 0; j < 3; ++j)
q[j] = contactspace_samples[i].v[j];
for(std::size_t j = 0; j < 6; ++j)
q_col[j] = contactspace_samples[i].v[j];
boost::timer t;
aTimer.Reset();
aTimer.Start();
double pd = Collider3D::PDt(P, Q, q_col);
PD_file << pd << " ";
// timing_file << t.elapsed() << " ";
timing_file << aTimer.GetTime() * 1000 << " ";
timing_file.flush();
PD_file.flush();
}
}
void playback_R3()
{
C2A_Model* P = NULL;
C2A_Model* Q = NULL;
readObjFile(P, "../data/models/CupSpoon/Cup.obj");
readObjFile(Q, "../data/models/CupSpoon/Spoon.obj");
P->ComputeRadius();
Q->ComputeRadius();
Collider3D collider(P, Q);
std::vector<ContactSpaceSampleData> contactspace_samples;
std::ifstream in("space_test_3d.txt");
asciiReader(in, contactspace_samples);
ContactSpaceR3 contactspace(P, Q, 0.05 * (P->radius + Q->radius));
std::ofstream scaler_file("scaler_3d_rotation_cupspoon.txt");
scaler_file << contactspace.getScaler() << std::endl;
std::vector<ContactSpaceSampleData> train_samples = contactspace.uniform_sample(100000);
SVMLearner learner;
learner.setDim(contactspace.active_data_dim());
learner.setC(20);
learner.setScaler(contactspace.getScaler());
learner.setUseScaler(true);
learner.setGamma(50);
learner.learn(train_samples, contactspace.active_data_dim());
learner.save("model_R3.txt");
// flann::HierarchicalClusteringIndex<ContactSpaceSE3Euler::DistanceType>* query_index = learner.constructIndexOfSupportVectorsForQuery<ContactSpaceSE3Euler, flann::HierarchicalClusteringIndex, flann::HierarchicalClusteringIndexParams>();
std::vector<ContactSpaceSampleData> support_samples;
learner.collectSupportVectors(support_samples);
ExtendedModel<ContactSpaceR3, flann::Index> extended_model =
constructExtendedModelForModelDecisionBoundary<ContactSpaceR3, SVMLearner, flann::Index, flann::KDTreeIndexParams>(contactspace, learner, support_samples, 0.01, 50);
std::ofstream timing_file("timing_APD_R3.txt");
std::ofstream PD_file("PD_APD_R3.txt");
for(std::size_t i = 0; i < contactspace_samples.size(); ++i)
{
std::cout << i << std::endl;
DataVector q_col(6);
DataVector q(3);
for(std::size_t j = 0; j < 3; ++j)
q[j] = contactspace_samples[i].v[j];
for(std::size_t j = 0; j < 6; ++j)
q_col[j] = contactspace_samples[i].v[j];
boost::timer t;
aTimer.Reset();
aTimer.Start();
if(!collider.isCollide(q_col))
{
PD_file << 0 << " ";
}
else
{
QueryResult pd_result = PD_query(learner, contactspace, extended_model.index, extended_model.samples, q);
PD_file << pd_result.PD << " ";
}
// timing_file << t.elapsed() << " ";
timing_file << aTimer.GetTime() * 1000 << " ";
timing_file.flush();
PD_file.flush();
}
}
