// This function Poisson samples the inverse Fourier transformed power and populates the volume
// with galaxies.
void Gendr(std::string file, double variance, fftw_real *deltar3d) {
// Create Mersenne twister random number generators for the Poisson sampling, and
// to distribute galaxies in a uniform random manner within the cells.
std::mt19937_64 generator;
// Seed the generator
generator.seed(time(0));
std::ofstream fout; // Output filestream
double n = nbar*dL*dL*dL;
int count = 0;
fout.open(file.c_str(),std::ios::out); // Open output file
fout.precision(15); // Set the number of digits to output
// Loop through all the grid points, assign galaxies uniform random positions within
// each cell.
for (int i = 0; i < N; ++i) {
double xmin = i*dL;
double xmax = (i+1)*dL;
// Uniform random distribution for the x coordinate
std::uniform_real_distribution<double> xpos(xmin, xmax);
for (int j = 0; j < N; ++j) {
double ymin = j*dL;
double ymax = (j+1)*dL;
// Uniform random distribution for the y coordinate
std::uniform_real_distribution<double> ypos(ymin, ymax);
for (int k = 0; k < N; ++k) {
double zmin = k*dL;
double zmax = (k+1)*dL;
// Uniform random distribution for the z coordinate
std::uniform_real_distribution<double> zpos(zmin, zmax);
int index = k + N*(j+N*i); // Calculate grid index
// Check that the matter density field is positive. Set to zero if not.
//if (deltar3d[index] < 0.0) continue;
// Initialize the Poisson distribution with the value of the matter field
double density = n*exp(deltar3d[index]-variance/2);
std::poisson_distribution<int> distribution(density);
int numGal = distribution(generator); // Randomly Poisson sample
count += numGal;
// Randomly generate positions for numGal galaxies within the cell
for (int gal = 0; gal < numGal; ++gal) {
fout << xpos(generator) << " " << ypos(generator) << " " << zpos(generator) << "\n";
}
}
}
}
fout.close(); // Close file
fout.open("GalaxyNum.dat",std::ios::app);
fout << count << " " << file << "\n";
fout.close();
}
void Cube::initCubeTexture()
{
QImage xpos("./bin/textures/room/xpos.png");
QImage xneg("./bin/textures/room/xneg.png");
QImage ypos("./bin/textures/room/ypos.png");
QImage yneg("./bin/textures/room/yneg.png");
QImage zpos("./bin/textures/room/zpos.png");
QImage zneg("./bin/textures/room/zneg.png");
int width = xpos.width();
int height = xpos.height();
glGenTextures(1, &m_texture);
glBindTexture(GL_TEXTURE_CUBE_MAP, m_texture);
glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
glTexParameteri(GL_TEXTURE_CUBE_MAP, GL_TEXTURE_WRAP_R, GL_CLAMP_TO_EDGE);
glTexImage2D(GL_TEXTURE_CUBE_MAP_POSITIVE_X, 0, GL_RGBA, width, height, 0, GL_BGRA, GL_UNSIGNED_BYTE, xpos.bits());
glTexImage2D(GL_TEXTURE_CUBE_MAP_NEGATIVE_X, 0, GL_RGBA, width, height, 0, GL_BGRA, GL_UNSIGNED_BYTE, xneg.bits());
glTexImage2D(GL_TEXTURE_CUBE_MAP_POSITIVE_Y, 0, GL_RGBA, width, height, 0, GL_BGRA, GL_UNSIGNED_BYTE, ypos.bits());
glTexImage2D(GL_TEXTURE_CUBE_MAP_NEGATIVE_Y, 0, GL_RGBA, width, height, 0, GL_BGRA, GL_UNSIGNED_BYTE, yneg.bits());
glTexImage2D(GL_TEXTURE_CUBE_MAP_POSITIVE_Z, 0, GL_RGBA, width, height, 0, GL_BGRA, GL_UNSIGNED_BYTE, zpos.bits());
glTexImage2D(GL_TEXTURE_CUBE_MAP_NEGATIVE_Z, 0, GL_RGBA, width, height, 0, GL_BGRA, GL_UNSIGNED_BYTE, zneg.bits());
glBindTexture(GL_TEXTURE_CUBE_MAP, 0);
}
/**
* \brief Default constructor
*/
SpecificWorker::SpecificWorker(MapPrx& mprx) : GenericWorker(mprx)
{
connect(ci, SIGNAL(clicked()), this, SLOT(moverpataci()));
connect(cd, SIGNAL(clicked()), this, SLOT(moverpatacd()));
connect(Xpos, SIGNAL(clicked()), this, SLOT(xpos()));
connect(Xneg, SIGNAL(clicked()), this, SLOT(xneg()));
connect(Ypos, SIGNAL(clicked()), this, SLOT(ypos()));
connect(Yneg, SIGNAL(clicked()), this, SLOT(yneg()));
connect(Zpos, SIGNAL(clicked()), this, SLOT(zpos()));
connect(Zneg, SIGNAL(clicked()), this, SLOT(zneg()));
connect(Actualizar, SIGNAL(clicked()), this, SLOT(actualizar()));
inner = new InnerModel("/home/ivan/robocomp/files/innermodel/hexapod1pata.xml");
Posini=inner->transform("base","axisA1T");
Posfin=Posini;
QVec aux=inner->transform("arm1motor2","arm1motor3");
qDebug()<<aux;
angle1=atan(aux.y()/aux.z());
Femur=aux.norm2();
aux=inner->transform("arm1motor3","axisA1T");
angle2=atan(aux.y()/aux.z());
Tibia=aux.norm2();
qDebug()<<aux;
Coxa=52;
qDebug()<<"-----------------------------";
qDebug()<<" Coxa = "<<Coxa;
qDebug()<<" Femur = "<<Femur;
qDebug()<<" Tibia = "<<Tibia;
qDebug()<<" angle1 = "<<angle1;
qDebug()<<" angle2 = "<<angle2;
qDebug()<<"-----------------------------";
// Femur=sqrt(14.5*14.5+64.5*64.5);
// Tibia=sqrt(123.714*123.714+ 23.6179 *23.6179);
H=18.5;
// Posini=QVec::zeros(3);
// RoboCompJointMotor::MotorParamsList mp = jointmotor_proxy->getAllMotorParams();
// RoboCompJointMotor::MotorGoalPositionList mg;
// for(auto m:mp){
// cout<<m.name<<endl;
// RoboCompJointMotor::MotorGoalPosition p;
// p.name=m.name;
// p.maxSpeed=0.1;
// p.position=0;
// mg.push_back(p);
// // mg.insert(p);
// }
// jointmotor_proxy->setSyncPosition(mg);
m1="arm1motor1";
m2="arm1motor2";
m3="arm1motor3";
}
