string CViewRenderer::renderFile(const IRenderingContext * context, const string & sourceFile, CDT & data, bool ret) throw (CException)
{
boost::filesystem::path sourcePath(sourceFile);
if (!boost::filesystem::exists(sourcePath)) {
throw CException("View file \"" + sourceFile + "\" does not exist.");
}
string viewFile = getViewFile(sourceFile);
boost::filesystem::path viewPath(viewFile);
if (!boost::filesystem::exists(viewPath) || boost::filesystem::last_write_time(sourcePath) > boost::filesystem::last_write_time(viewPath)) {
if (generateViewFile(sourceFile, viewFile)) {
chmod(viewFile.c_str(), filePermission);
} else {
throw CException("Can't generate view file \"" + viewFile + "\" from source file \"" + sourceFile + "\".");
}
}
if (context != 0) {
return context->renderInternal(viewFile, data, ret);
}
stringstream os;
StreamOutputCollector outputCollector(os);
TDynamicTemplateCacheMap::const_iterator found = _templateCache.find(viewFile);
VMLoader * oLoader = 0;
if (found == _templateCache.end()) {
oLoader = new VMFileLoader(viewFile.c_str());
_templateCache[viewFile.c_str()] = boost::shared_ptr<VMLoader>(oLoader);
} else {
oLoader = found->second.get();
}
PROFILE_BEGIN("CViewRenderer::rendering template bytecode of \"" + viewFile + "\"")
UINT_32 iIP = 0;
VM * vm = Cws::app()->getTemplateEngine()->getVM();
const VMMemoryCore * pVMMemoryCore = oLoader->GetCore();
vm->Init(pVMMemoryCore, &outputCollector, 0);
vm->Run(pVMMemoryCore, &outputCollector, iIP, data, 0);
PROFILE_END()
if (ret) {
return os.str();
} else {
Cws::app()->getOutputStack().top()->echo(os.str());
return "";
}
}
/**
* @function main
*/
int main( int argc, char* argv[] ) {
double sx; double sy; double sz;
double ox; double oy; double oz;
double resolution;
sx = 1.0; sy = 1.0; sz = 1.0;
ox = 0.0; oy = 0.0; oz = 0.0;
resolution = 0.0125;
// Distance Field
printf("Create PF Distance Field \n");
PFDistanceField pf( sx, sy, sz, resolution, ox, oy, oz );
pf.reset();
// Geometry
double bx; double by; double bz;
bx = 0.2; by = 0.25; bz = 0.2;
pf.addBox( 0.6, 0.5, 0.1, bx, by, bz );
pf.addBox( 0.6, 0.5, 0.1, bx + 0.0, by + 0.0, bz + 0.5 );
// Settings parameters
int cost = 10; int radius = 3; int numPaths = 6;
DiversePaths dp( &pf, radius, cost );
// Set goal and start
std::vector<double> goal(3);
goal[0] = 0.5; goal[1] = 0.9; goal[2] = 0.7;
std::vector<double> start(3);
start[0] = 0.3; start[1] = 0.1; start[2] = 0.5;
// Paths
std::vector<std::vector<double> > midPoints;
std::vector<std::vector<std::vector<double> > > paths;
// Get paths
float boundFactor = 2.0;
int numCheckPoints = 10;
time_t ts = clock();
paths = dp.getDiversePaths2( start, goal, numPaths, midPoints, boundFactor, numCheckPoints );
time_t tf = clock();
double dt = (double) ( tf - ts ) / CLOCKS_PER_SEC;
printf( "** getDiversePaths2 time: %f \n", dt );
printf( "Num points: %d \n", midPoints.size() );
// Create viewer
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer = createViewer();
// View the path
reset_PCL_Tools_counters();
// MidPoints: View pointcloud (NOT BOTH Balls and pointcloud)
viewPoints( midPoints, viewer, 255,0,255 );
// Get checkPoint Lines
std::vector<std::vector<std::vector<double> > > checkLines;
if( paths.size() >= 2 ) {
checkLines = dp.getCheckPointLines( paths[0], paths[2], numCheckPoints );
} else {
printf( " !! Only one path, no drawing checkPoint lines! \n" );
}
for( int i = 0; i < checkLines.size(); ++i ) {
viewPath( checkLines[i], viewer, 0, 0, 255 );
}
dp.visualizePaths( viewer, paths, true );
// Loop
while( !viewer->wasStopped() ) {
viewer->spinOnce(100);
boost::this_thread::sleep( boost::posix_time::microseconds(100000));
}
printf("End of program \n");
return(0);
}
