bool Params::Load(string FileName){
int BufferSize = 4096;
char* theLine = new char[BufferSize];
ifstream theFile(FileName.c_str());
if (theFile.fail()) {
mstrErrorMessage = "Failed to open the description file!";
return false;
}
int nLineCount = 0;
while (!theFile.eof()) {
theFile.getline(theLine, BufferSize);
nLineCount++;
string theline(theLine);
string Name(""), Value("");
theline = trim(theline);
if (theline.length() && (theline.c_str()[0] != '#'))
{
int pos = 0;
if ((pos = theline.find("=")) != -1) {
Name = theline.substr(0, pos);
Value = theline.substr(pos + 1);
}
if (Name == "" && Value == "") {
} else if (Name == "" || Value == "") {
mstrErrorMessage = "Invalid <Name = Value> pair format";
cout << theLine << endl;
return false;
} else {
string name = ToLower(Name);
string value = ToLower(Value);
if (name == "numberofvariables") {
mnNumberOfGenes = ToInt(value);
} else if (name == "traindatafile") {
mstrTrainDataFile = Value;
} else if (name == "trainsamplesize") {
mnTrainSampleSize = ToInt(value);
} else if (name == "testdatafile") {
mstrTestDataFile = Value;
} else if (name == "testsamplesize") {
mnTestSampleSize = ToInt(value);
} else if (name == "maxregressors") {
mnMaxRegressors = ToInt(value);
} else if (name == "modelsfile") {
mstrModelsFile = Value;
} else if (name == "chainiterations") {
mnChainIterations = ToInt(value);
} else {
mstrErrorMessage = "Unknown <Name = Value> pair!"; //to be refined later
cout << theLine << endl;
return false;
}
//cout << theLine << endl;
}
}
}
delete[] theLine;
mstrErrorMessage = "";
return true;
}
void local_map::laser_projection(const gns::frame& f, const laser& laser, grid<
400>& out) {
out.clear();
gns::frame wXl = f * laser.rXl;
change change = get_change();
pointi lasercoord = change.toCell(wXl.zero());
for (unsigned int i = 0; i < laser.count(); i++) {
gns::point p = wXl * gns::point::polar(laser.range(i), laser.angle(i));
if (gns::distance(p, m_wXr.zero()) <= m_robot_size)
continue;
pointi gcp = change.toCell(p);
my::line theline(lasercoord, gcp);
for (my::line::iterator j = theline.begin(); j != theline.end(); ++j) {
if (out.valid(j->x, j->y) and out(j->x, j->y) == cell::UNKNOWN)
out(j->x, j->y) = cell::FREE;
}
if (laser.range(i) < laser.max_range and out.valid(gcp.x, gcp.y))
out(gcp.x, gcp.y) = cell::NONFREE;
}
for (int i = int(laser.count()) - 1; i >= 0; i--) {
gns::point p = wXl * gns::point::polar(laser.range(i), laser.angle(i));
if (gns::distance(p, m_wXr.zero()) <= m_robot_size)
continue;
pointi gcp = change.toCell(p);
my::line theline(lasercoord, gcp);
for (my::line::iterator j = theline.begin(); j != theline.end(); ++j) {
if (out.valid(j->x, j->y) and out(j->x, j->y) == cell::UNKNOWN)
out(j->x, j->y) = cell::FREE;
}
if (laser.range(i) < laser.max_range and out.valid(gcp.x, gcp.y))
out(gcp.x, gcp.y) = cell::NONFREE;
}
}