static void draw_board(int m, int n) {
int i, j, x, y, len;
x = 100 + n * D ;
y = 100 + m * D ;
for (i = x - R; i <= x +R; i++)
for (j = y - R; j <= y + R; j++) {
switch (board[m][n]) {
case BLACK:
len = sqrt((x - i)*(x - i) + (y -j)*(y -j));
if (len <= R) {
fb_draw_point(i, j, 0x00);
fb_draw_point(xres() - 200 + D / 2 + (x - i), R + 10 + (y -j), 0xFF);
}
break;
case WHITE:
len = sqrt((x - i)*(x - i) + (y -j)*(y -j));
if (len <= R) {
fb_draw_point(i, j, 0xFF);
fb_draw_point(xres() - 200 + D / 2 + (x - i), R + 10 + (y -j), 0x00);
}
break;
case NONE:
break;
default:
break;
}
}
}
MyClass() {
QString xres("{ 'var' : 'xres', 'name' : 'Image Width', 'type' : 'int', 'min' : 1, 'max' : 4096, 'value' : 1024 }");
QString yres("{ 'var' : 'yres', 'name' : 'Image Height', 'type' : 'int', 'min' : 1, 'max' : 4096, 'value' : 768 }");
QString samplingWidth("{ 'var' : 'samplingWidth', 'name' : 'Sampling Width', 'type' : 'float', 'min' : 1, 'max' : 8, 'value' : 3 }");
QString exposure("{ 'var' : 'exposure', 'name' : 'Exposure', 'type' : 'float', 'min' : 0.001, 'max' : 1000, 'value' : 1.0 }");
QStringList atts;
atts << xres << yres << samplingWidth << exposure;
addAttributes(atts);
}
VImage
VImage::new_from_image( std::vector<double> pixel )
{
VImage onepx = VImage::black( 1, 1,
VImage::option()->set( "bands", bands() ) );
onepx = onepx.linear( to_vectorv( 1, 1.0 ), pixel ).cast( format() );
VImage big = onepx.embed( 0, 0, width(), height(),
VImage::option()->set( "extend", VIPS_EXTEND_COPY ) );
big = big.copy(
VImage::option()->
set( "interpretation", interpretation() )->
set( "xres", xres() )->
set( "yres", yres() )->
set( "xoffset", xres() )->
set( "yoffset", yres() ) );
return( big );
}
void init_board(void) {
int i, j;
startx = 50, starty = 50, endx=xres() - 50, endy = yres() - 50, scope = 0;
maxn = (xres() - 500) / D, maxm = (yres() - 150) / D;
if (maxn >= MAXWIDTH)
maxn = MAXWIDTH - 1;
if (maxm >= MAXHEIGHT)
maxm = MAXHEIGHT - 1;
//init board to zero
for (i = 0; i<= maxn; i++)
for (j = 0; j<= maxm; j++)
board[j][i] = 0;
printf("\033[?25l"); //隐藏光标
system("clear");
background_pic("background.bmp");
draw_board();
printlet((maxn + 2) * D + 50, 2 * D + 100, "NEXT");
print_scope(0);
}
void init(void)
{
int i;
srand(getpid());
for (i = 0; i < BOX_SIZE; i++) {
box[i].cent.x = (unsigned)rand() % (xres() - 200) + 100;
box[i].cent.y = (unsigned)rand() % (yres() - 200) + 100;
box[i].dir = (unsigned)rand() % 4;
box[i].r = 50;
box[i].color = 0xaf;
}
}
static void change_dir__(struct circle *p)
{
if (p->cent.x - p->r == 0 && p->cent.y - p->r == 0) {
p->dir = 1;
} else if (p->cent.x - p->r == 0 && p->cent.y + p->r == yres() - 1) {
p->dir = 0;
} else if (p->cent.x + p->r == xres() - 1 && p->cent.y - p->r == 0) {
p->dir = 2;
} else if (p->cent.x + p->r == xres() - 1 && p->cent.y + p->r == yres() - 1) {
p->dir = 3;
} else if (p->cent.x - p->r == 0) {
if (p->dir == 2) {
p->dir = 1;
} else {
p->dir = 0;
}
} else if (p->cent.x + p->r == xres() - 1) {
if (p->dir == 0) {
p->dir = 3;
} else {
p->dir = 2;
}
} else if (p->cent.y - p->r == 0) {
if (p->dir == 0) {
p->dir = 1;
} else {
p->dir = 2;
}
} else if (p->cent.y + p->r == yres() - 1) {
if (p->dir == 1) {
p->dir = 0;
} else {
p->dir = 3;
}
}
}
void move(void) {
int x, y, r, l, limitx, limity;
srand(getpid());
//r = rand() % 8;
r = 2;
y = x = rand() % 500;
limitx = xres() - 2*R;
limity = yres() - 2*R;
while (l = 4) {
switch (l){
case 1: /* x++, y++ */
for (; x <= limitx && y <= limity; x++, y += r) {
dram(x,y+R*2);
usleep(10000);
clean(x, y+R*2);
}
break;
case 2: /* x--, y-- */
for (; x >= 0 && y >= 0; x--, y -= r) {
dram(x,y+R*2);
usleep(10000);
clean(x, y+R*2);
}
break;
case 3: /* x--, y++ */
for (; x >= 0 && y <= limity; x--, y += r) {
dram(x,y+R*2);
usleep(10000);
clean(x, y+R*2);
}
break;
case 4: /* x++, y-- */
for (; x <= limitx && y >= 0; x++, y -= r) {
dram(x,y+R*2);
usleep(10000);
clean(x, y+R*2);
}
break;
default:
break;
}
}
}
void move_brick(struct brick *b, int flag) {
int i, j, s, xlim, xmax, ylim;
if (flag == CLEAN)
for (i = 0; i < 4; i++)
for (j = 0; j < 4; j++) {
xlim = b->x +(i-0) * D;
clean_box(xlim, b->y + j * D, D);
}
else
for (i = s; i < 4; i++)
for (j = 0; j < 4; j++) {
xlim = b->x +(i-s) * D;
ylim = b->y + j * D;
if (xlim >= 50 && xlim <= (xres() - 450) && brick_num[b->b1][b->b2][j][i] == 9)
draw_box(xlim, ylim, D);
}
}
static void init_board(void) {
int i, j, startx = 50, starty = 50, endx=xres() - 50, endy = yres() - 50;
int BW = 1, che_count = 1, winner = 1, space = 0, col = 0;
boardx = (endx - 100) / D > MAXBOARD ? MAXBOARD: (endx - 100) / D;
boardy = (endy - 100) / D > MAXBOARD ? MAXBOARD: (endy - 100) / D;
system("clear");
for (; startx <= endx - 400 ; startx += D)
for (starty = 100; starty <= endy; starty +=D) {
for (i = 0; i <= D; i++)
for (j = 0; j <= D; j++)
if ((i < D - 1) && (j < D -1) ) {
fb_draw_point(i+startx ,j+starty , 244);
} else
fb_draw_point(i+startx ,j+starty ,0x00);
//printdig(i+startx ,j+starty , col++);
}
}
/* >>> start tutorial code >>> */
int main( ){
USING_NAMESPACE_ACADO
// DEFINE VALRIABLES:
// ---------------------------
DifferentialStateVector x(3); // the position of the pendulum (x,y,alpha)
DifferentialStateVector v(3); // the associated velocities
AlgebraicStateVector a(3); // the associated accelerations
AlgebraicStateVector lambda(2); // the constraint forces
const double L = 1.00; // the length of the pendulum
const double m = 1.00; // the mass of the pendulum
const double g = 9.81; // the gravitational constant
const double J = m*L*L; // the inertial of the pendulum
IntermediateStateVector R(3);
IntermediateStateVector G(2);
R.setComponent( 0, m*a(0) ); // ----------------------------------------
R.setComponent( 1, m*a(1) + m*g ); // the definition of the force residuum:
R.setComponent( 2, J*a(2) ); // R := m*a - F
G.setComponent( 0, x(0)-L*sin(x(2)) ); // definition of the constraint manifold G
G.setComponent( 1, x(1)+L*cos(x(2)) ); // ---------------------------------------
// AUTOMATIC GENERATION OF AN INDEX 1 DAE SYSTEM BASES ON THE
// NEWTON EULER FORMALISM:
// -----------------------------------------------------------
DifferentialEquation f;
NewtonEulerFormalism( f, R, G, x, v, a, lambda );
// Define an integrator:
// ---------------------
IntegratorBDF integrator( f );
// Define an initial value:
// ------------------------
double x_start[6];
double z_start[5];
x_start[0] = 1.9866932270683099e-01;
x_start[1] = -9.8006654611577315e-01;
x_start[2] = 2.0000003107582773e-01;
x_start[3] = -1.4519963562050693e-04;
x_start[4] = 4.7104175041346282e-04;
x_start[5] = 4.4177521668741377e-04;
z_start[0] = -9.5504866367984165e-01;
z_start[1] = -1.9359778029074531e-01;
z_start[2] = -9.7447321693831934e-01;
z_start[3] = -9.5504866367984165e-01;
z_start[4] = 9.6164022197092560e+00;
double t_start = 0.0;
double t_end = 10.0;
// START THE INTEGRATION
// ----------------------
integrator.set( INTEGRATOR_PRINTLEVEL, MEDIUM );
// integrator.set( INTEGRATOR_TOLERANCE, 1e-12 );
integrator.freezeAll();
integrator.integrate( x_start, z_start, t_start, t_end );
VariablesGrid xres,zres;
integrator.getTrajectory(&xres,&zres,NULL,NULL,NULL,NULL);
GnuplotWindow window;
window.addSubplot( xres(0), "The x-position of the mass m" );
window.addSubplot( xres(1), "The y-position of the mass m" );
window.addSubplot( xres(2), "The excitation angle of the pendulum" );
window.addSubplot( xres(3), "The velocity in x-direction" );
window.addSubplot( xres(4), "The velocity in y-direction" );
window.addSubplot( xres(5), "The angular velocity" );
// window.addSubplot( zres(0), "The acceleration in x-direction" );
// window.addSubplot( zres(1), "The acceleration in y-direction" );
// window.addSubplot( zres(2), "The angular acceleration" );
window.addSubplot( zres(3), "The constraint force in x-direction" );
window.addSubplot( zres(4), "The constraint force in y-direction" );
window.plot();
return 0;
}
