int main(int argc, char** argv) {
int i, t;
int n_frames = 10;
int n_atoms = 5;
int n_sphere_points = 960;
int* pairs = calloc(2, sizeof(int));
pairs[0] = 0;
pairs[1] = 1;
int triplets[3] = {0, 1, 2};
int quartets[4] = {0, 1, 2, 3};
float * box_matrix = calloc(n_frames*9, sizeof(float));
for (t = 0; t < n_frames; t++)
for (i = 0; i < 3; i++)
box_matrix[t*9 + i*3+i] = 1;
float * atom_radii = calloc(n_atoms, sizeof(float));
float * xyzlist = calloc(n_frames*n_atoms*3, sizeof(float));
float * geom_out = calloc(n_frames, sizeof(float));
float * displacement_out = calloc(n_frames*1*3, sizeof(float));
float * array_of_areas = calloc(n_frames*n_atoms, sizeof(float));
for (i = 0; i < n_frames*n_atoms*3; i++)
xyzlist[i] = i;
sasa(n_frames, n_atoms, xyzlist, atom_radii, n_sphere_points, array_of_areas);
printf("Finished sasa\n");
dihedral(xyzlist, quartets, geom_out, n_frames, n_atoms, 1);
printf("finished dihedral\n");
dist(xyzlist, pairs, geom_out, NULL, n_frames, n_atoms, 1);
printf("finished dist 1\n");
dist(xyzlist, pairs, NULL, displacement_out, n_frames, n_atoms, 1);
printf("finished dist 2\n");
dist_mic(xyzlist, pairs, box_matrix, geom_out, NULL, n_frames, n_atoms, 1);
printf("finished mic 1\n");
dist_mic(xyzlist, pairs, box_matrix, NULL, displacement_out, n_frames, n_atoms, 1);
printf("finished mic 2\n");
angle(xyzlist, triplets, geom_out, n_frames, n_atoms, 1);
printf("finished angle\n");
// example: this is an invalid read that should trigger valgrid
// or the clang address tool
// __m128 f = _mm_loadu_ps(atom_radii+(n_atoms-3));
free(atom_radii);
free(xyzlist);
free(array_of_areas);
free(geom_out);
free(displacement_out);
free(pairs);
free(box_matrix);
return 0;
}
odcore::data::dmcp::ModuleExitCodeMessage::ModuleExitCode Ivrule::body()
{
while (getModuleStateAndWaitForRemainingTimeInTimeslice() == odcore::data::dmcp::ModuleStateMessage::RUNNING) {
odcore::data::TimeStamp now;
if((m_mioValidUntil-now).toMicroseconds() > 0) {
// Steer to mio
opendlv::perception::StimulusDirectionOfMovement sdom(now, m_mio.getDirection(),opendlv::model::Direction(0,0));
odcore::data::Container containerSdom(sdom);
getConference().send(containerSdom);
// std::cout << "Sent sdom." << std::endl;
opendlv::perception::StimulusAngularSizeAlignment sasa(now, m_mio.getDirection(),m_mio.getAngularSize(),m_desiredAngularSize);
odcore::data::Container containerSasa(sasa);
getConference().send(containerSasa);
// std::cout << "Sent sasa." << std::endl;
// std::cout
// << " Id: " << m_mio.getObjectId()
// << " Azimuth: " << m_mio.getDirection().getAzimuth()
// << " Distance: " << m_mio.getDistance()
// << " Desired angular size: " << m_desiredAngularSize
// << " Currently: " << m_mio.getAngularSize()
// << std::endl;
} else {
opendlv::perception::StimulusGroundSpeed sof(now, m_desiredOpticalFlow, m_speed);
odcore::data::Container containerSof(sof);
getConference().send(containerSof);
// std::cout << "Send sof. Desired OF: " << m_desiredOpticalFlow << " Current OF: " << m_speed << std::endl;
}
}
return odcore::data::dmcp::ModuleExitCodeMessage::OKAY;
}
